1

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

     2

 *

     3

 *  $Id$

     4

 *

     5

 *  Copyright (C) 2006-2012  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

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

    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

        ec_device_index_t dev_idx, /**< Device index. */

    66

        uint16_t ring_position, /**< ring position */

    67

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

    68

        )

    69

{

    70

    unsigned int i;

    71

    72

    slave->master = master;

    73

    slave->device_index = dev_idx;

    74

    slave->ring_position = ring_position;

    75

    slave->station_address = station_address;

    76

    slave->effective_alias = 0x0000;

    77

    78

    slave->config = NULL;

    79

    slave->requested_state = EC_SLAVE_STATE_PREOP;

    80

    slave->current_state = EC_SLAVE_STATE_UNKNOWN;

    81

    slave->error_flag = 0;

    82

    slave->force_config = 0;

    83

    slave->configured_rx_mailbox_offset = 0x0000;

    84

    slave->configured_rx_mailbox_size = 0x0000;

    85

    slave->configured_tx_mailbox_offset = 0x0000;

    86

    slave->configured_tx_mailbox_size = 0x0000;

    87

    88

    slave->base_type = 0;

    89

    slave->base_revision = 0;

    90

    slave->base_build = 0;

    91

    slave->base_fmmu_count = 0;

    92

    slave->base_sync_count = 0;

    93

    94

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

    95

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

    96

    97

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

    98

        slave->ports[i].link.loop_closed = 1;

    99

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

   100

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

   101

   102

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

   103

   104

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

   105

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

   106

   107

#ifdef EC_LOOP_CONTROL

   108

        slave->ports[i].state = EC_SLAVE_PORT_DOWN;

   109

        slave->ports[i].link_detection_jiffies = 0;

   110

#endif

   111

    }

   112

   113

    slave->base_fmmu_bit_operation = 0;

   114

    slave->base_dc_supported = 0;

   115

    slave->base_dc_range = EC_DC_32;

   116

    slave->has_dc_system_time = 0;

   117

    slave->transmission_delay = 0U;

   118

   119

    slave->sii_words = NULL;

   120

    slave->sii_nwords = 0;

   121

   122

    slave->sii.alias = 0x0000;

   123

    slave->sii.vendor_id = 0x00000000;

   124

    slave->sii.product_code = 0x00000000;

   125

    slave->sii.revision_number = 0x00000000;

   126

    slave->sii.serial_number = 0x00000000;

   127

    slave->sii.boot_rx_mailbox_offset = 0x0000;

   128

    slave->sii.boot_rx_mailbox_size = 0x0000;

   129

    slave->sii.boot_tx_mailbox_offset = 0x0000;

   130

    slave->sii.boot_tx_mailbox_size = 0x0000;

   131

    slave->sii.std_rx_mailbox_offset = 0x0000;

   132

    slave->sii.std_rx_mailbox_size = 0x0000;

   133

    slave->sii.std_tx_mailbox_offset = 0x0000;

   134

    slave->sii.std_tx_mailbox_size = 0x0000;

   135

    slave->sii.mailbox_protocols = 0;

   136

   137

    slave->sii.strings = NULL;

   138

    slave->sii.string_count = 0;

   139

   140

    slave->sii.has_general = 0;

   141

    slave->sii.group = NULL;

   142

    slave->sii.image = NULL;

   143

    slave->sii.order = NULL;

   144

    slave->sii.name = NULL;

   145

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

   146

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

   147

    slave->sii.current_on_ebus = 0;

   148

   149

    slave->sii.syncs = NULL;

   150

    slave->sii.sync_count = 0;

   151

   152

    INIT_LIST_HEAD(&slave->sii.pdos);

   153

   154

    INIT_LIST_HEAD(&slave->sdo_dictionary);

   155

   156

    slave->sdo_dictionary_fetched = 0;

   157

    slave->jiffies_preop = 0;

   158

   159

    INIT_LIST_HEAD(&slave->sdo_requests);

   160

    INIT_LIST_HEAD(&slave->reg_requests);

   161

    INIT_LIST_HEAD(&slave->foe_requests);

   162

    INIT_LIST_HEAD(&slave->soe_requests);

   163

    INIT_LIST_HEAD(&slave->eoe_requests);

   164

   165

    // create state machine object

   166

    ec_fsm_slave_init(&slave->fsm, slave);

   167

}

   168

   169

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

   170

   171

/**

   172

   Slave destructor.

   173

   Clears and frees a slave object.

   174

*/

   175

   176

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

   177

{

   178

    ec_sdo_t *sdo, *next_sdo;

   179

    unsigned int i;

   180

    ec_pdo_t *pdo, *next_pdo;

   181

   182

    // abort all pending requests

   183

   184

    while (!list_empty(&slave->sdo_requests)) {

   185

        ec_sdo_request_t *request =

   186

            list_entry(slave->sdo_requests.next, ec_sdo_request_t, list);

   187

        list_del_init(&request->list); // dequeue

   188

        EC_SLAVE_WARN(slave, "Discarding SDO request,"

   189

                " slave about to be deleted.\n");

   190

        request->state = EC_INT_REQUEST_FAILURE;

   191

    }

   192

   193

    while (!list_empty(&slave->reg_requests)) {

   194

        ec_reg_request_t *reg =

   195

            list_entry(slave->reg_requests.next, ec_reg_request_t, list);

   196

        list_del_init(&reg->list); // dequeue

   197

        EC_SLAVE_WARN(slave, "Discarding register request,"

   198

                " slave about to be deleted.\n");

   199

        reg->state = EC_INT_REQUEST_FAILURE;

   200

    }

   201

   202

    while (!list_empty(&slave->foe_requests)) {

   203

        ec_foe_request_t *request =

   204

            list_entry(slave->foe_requests.next, ec_foe_request_t, list);

   205

        list_del_init(&request->list); // dequeue

   206

        EC_SLAVE_WARN(slave, "Discarding FoE request,"

   207

                " slave about to be deleted.\n");

   208

        request->state = EC_INT_REQUEST_FAILURE;

   209

    }

   210

   211

    while (!list_empty(&slave->soe_requests)) {

   212

        ec_soe_request_t *request =

   213

            list_entry(slave->soe_requests.next, ec_soe_request_t, list);

   214

        list_del_init(&request->list); // dequeue

   215

        EC_SLAVE_WARN(slave, "Discarding SoE request,"

   216

                " slave about to be deleted.\n");

   217

        request->state = EC_INT_REQUEST_FAILURE;

   218

    }

   219

   220

    while (!list_empty(&slave->eoe_requests)) {

   221

        ec_eoe_request_t *request =

   222

            list_entry(slave->eoe_requests.next, ec_eoe_request_t, list);

   223

        list_del_init(&request->list); // dequeue

   224

        EC_SLAVE_WARN(slave, "Discarding EoE request,"

   225

                " slave about to be deleted.\n");

   226

        request->state = EC_INT_REQUEST_FAILURE;

   227

    }

   228

   229

    wake_up_all(&slave->master->request_queue);

   230

   231

    if (slave->config) {

   232

        ec_slave_config_detach(slave->config);

   233

    }

   234

   235

    // free all SDOs

   236

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

   237

        list_del(&sdo->list);

   238

        ec_sdo_clear(sdo);

   239

        kfree(sdo);

   240

    }

   241

   242

    // free all strings

   243

    if (slave->sii.strings) {

   244

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

   245

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

   246

        kfree(slave->sii.strings);

   247

    }

   248

   249

    // free all sync managers

   250

    ec_slave_clear_sync_managers(slave);

   251

   252

    // free all SII PDOs

   253

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

   254

        list_del(&pdo->list);

   255

        ec_pdo_clear(pdo);

   256

        kfree(pdo);

   257

    }

   258

   259

    if (slave->sii_words) {

   260

        kfree(slave->sii_words);

   261

    }

   262

   263

    ec_fsm_slave_clear(&slave->fsm);

   264

}

   265

   266

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

   267

   268

/** Clear the sync manager array.

   269

 */

   270

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

   271

{

   272

    unsigned int i;

   273

   274

    if (slave->sii.syncs) {

   275

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

   276

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

   277

        }

   278

        kfree(slave->sii.syncs);

   279

        slave->sii.syncs = NULL;

   280

    }

   281

}

   282

   283

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

   284

   285

/**

   286

 * Sets the data-link state of a slave.

   287

 */

   288

   289

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

   290

        uint16_t new_state /**< content of registers 0x0110-0x0111. */

   291

        )

   292

{

   293

    unsigned int i;

   294

    uint8_t state;

   295

   296

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

   297

        // link status

   298

        state = new_state & (1 << (4 + i)) ? 1 : 0;

   299

        if (slave->ports[i].link.link_up != state) {

   300

            EC_SLAVE_DBG(slave, 1, "Port %u link status changed to %s.\n",

   301

                    i, state ? "up" : "down");

   302

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

   303

        }

   304

   305

        // loop status

   306

        state = new_state & (1 << (8 + i * 2)) ? 1 : 0;

   307

        if (slave->ports[i].link.loop_closed != state) {

   308

            EC_SLAVE_DBG(slave, 1, "Port %u loop status changed to %s.\n",

   309

                    i, state ? "closed" : "open");

   310

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

   311

        }

   312

   313

        // signal detection

   314

        state = new_state & (1 << (9 + i * 2)) ? 1 : 0;

   315

        if (slave->ports[i].link.signal_detected != state) {

   316

            EC_SLAVE_DBG(slave, 1, "Port %u signal status changed to %s.\n",

   317

                    i, state ? "yes" : "no");

   318

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

   319

        }

   320

    }

   321

}

   322

   323

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

   324

   325

/**

   326

 * Sets the application state of a slave.

   327

 */

   328

   329

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

   330

        ec_slave_state_t new_state /**< new application state */

   331

        )

   332

{

   333

    if (new_state != slave->current_state) {

   334

        if (slave->master->debug_level) {

   335

            char old_state[EC_STATE_STRING_SIZE],

   336

                cur_state[EC_STATE_STRING_SIZE];

   337

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

   338

            ec_state_string(new_state, cur_state, 0);

   339

            EC_SLAVE_DBG(slave, 0, "%s -> %s.\n", old_state, cur_state);

   340

        }

   341

        slave->current_state = new_state;

   342

    }

   343

}

   344

   345

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

   346

   347

/**

   348

 * Request a slave state and resets the error flag.

   349

 */

   350

   351

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

   352

                            ec_slave_state_t state /**< new state */

   353

                            )

   354

{

   355

    slave->requested_state = state;

   356

    slave->error_flag = 0;

   357

}

   358

   359

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

   360

   361

/**

   362

   Fetches data from a STRING category.

   363

   \todo range checking

   364

   \return 0 in case of success, else < 0

   365

*/

   366

   367

int ec_slave_fetch_sii_strings(

   368

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

   369

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

   370

        size_t data_size /**< number of bytes */

   371

        )

   372

{

   373

    int i, err;

   374

    size_t size;

   375

    off_t offset;

   376

   377

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

   378

   379

    if (slave->sii.string_count) {

   380

        if (!(slave->sii.strings =

   381

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

   382

                        GFP_KERNEL))) {

   383

            EC_SLAVE_ERR(slave, "Failed to allocate string array memory.\n");

   384

            err = -ENOMEM;

   385

            goto out_zero;

   386

        }

   387

   388

        offset = 1;

   389

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

   390

            size = data[offset];

   391

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

   392

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

   393

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

   394

                EC_SLAVE_ERR(slave, "Failed to allocate string memory.\n");

   395

                err = -ENOMEM;

   396

                goto out_free;

   397

            }

   398

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

   399

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

   400

            offset += 1 + size;

   401

        }

   402

    }

   403

   404

    return 0;

   405

   406

out_free:

   407

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

   408

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

   409

    kfree(slave->sii.strings);

   410

    slave->sii.strings = NULL;

   411

out_zero:

   412

    slave->sii.string_count = 0;

   413

    return err;

   414

}

   415

   416

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

   417

   418

/**

   419

   Fetches data from a GENERAL category.

   420

   \return 0 in case of success, else < 0

   421

*/

   422

   423

int ec_slave_fetch_sii_general(

   424

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

   425

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

   426

        size_t data_size /**< size in bytes */

   427

        )

   428

{

   429

    unsigned int i;

   430

    uint8_t flags;

   431

   432

    if (data_size != 32) {

   433

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

   434

                data_size);

   435

        return -EINVAL;

   436

    }

   437

   438

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

   439

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

   440

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

   441

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

   442

   443

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

   444

        slave->sii.physical_layer[i] =

   445

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

   446

   447

    // read CoE details

   448

    flags = EC_READ_U8(data + 5);

   449

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

   450

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

   451

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

   452

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

   453

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

   454

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

   455

   456

    // read general flags

   457

    flags = EC_READ_U8(data + 0x000B);

   458

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

   459

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

   460

   461

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

   462

    slave->sii.has_general = 1;

   463

    return 0;

   464

}

   465

   466

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

   467

   468

/** Fetches data from a SYNC MANAGER category.

   469

 *

   470

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

   471

 *

   472

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

   473

 */

   474

int ec_slave_fetch_sii_syncs(

   475

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

   476

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

   477

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

   478

        )

   479

{

   480

    unsigned int i, count, total_count;

   481

    ec_sync_t *sync;

   482

    size_t memsize;

   483

    ec_sync_t *syncs;

   484

    uint8_t index;

   485