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

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

    29

    30

/**

    31

   \file

    32

   EtherCAT slave configuration methods.

    33

*/

    34

    35

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

    36

    37

#include <linux/slab.h>

    38

    39

#include "globals.h"

    40

#include "master.h"

    41

#include "voe_handler.h"

    42

    43

#include "slave_config.h"

    44

    45

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

    46

    47

/** Slave configuration constructor.

    48

 *

    49

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

    50

 * position parameters.

    51

 */

    52

void ec_slave_config_init(

    53

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

    54

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

    55

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

    56

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

    57

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

    58

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

    59

        )

    60

{

    61

    unsigned int i;

    62

    63

    sc->master = master;

    64

    65

    sc->alias = alias;

    66

    sc->position = position;

    67

    sc->vendor_id = vendor_id;

    68

    sc->product_code = product_code;

    69

    sc->watchdog_divider = 0; // use default

    70

    sc->watchdog_intervals = 0; // use default

    71

    72

    sc->slave = NULL;

    73

    74

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

    75

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

    76

    77

    sc->used_fmmus = 0;

    78

    sc->used_for_fmmu_datagram[EC_DIR_INPUT] = 0;

    79

    sc->used_for_fmmu_datagram[EC_DIR_OUTPUT] = 0;

    80

    sc->dc_assign_activate = 0x0000;

    81

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

    82

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

    83

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

    84

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

    85

    86

    INIT_LIST_HEAD(&sc->sdo_configs);

    87

    INIT_LIST_HEAD(&sc->sdo_requests);

    88

    INIT_LIST_HEAD(&sc->voe_handlers);

    89

    INIT_LIST_HEAD(&sc->soe_configs);

    90

}

    91

    92

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

    93

    94

/** Slave configuration destructor.

    95

 *

    96

 * Clears and frees a slave configuration object.

    97

 */

    98

void ec_slave_config_clear(

    99

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

   100

        )

   101

{

   102

    unsigned int i;

   103

    ec_sdo_request_t *req, *next_req;

   104

    ec_voe_handler_t *voe, *next_voe;

   105

    ec_soe_request_t *soe, *next_soe;

   106

   107

    ec_slave_config_detach(sc);

   108

   109

    // Free sync managers

   110

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

   111

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

   112

   113

    // free all SDO configurations

   114

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

   115

        list_del(&req->list);

   116

        ec_sdo_request_clear(req);

   117

        kfree(req);

   118

    }

   119

   120

    // free all SDO requests

   121

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

   122

        list_del(&req->list);

   123

        ec_sdo_request_clear(req);

   124

        kfree(req);

   125

    }

   126

   127

    // free all VoE handlers

   128

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

   129

        list_del(&voe->list);

   130

        ec_voe_handler_clear(voe);

   131

        kfree(voe);

   132

    }

   133

   134

    // free all SoE configurations

   135

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

   136

        list_del(&soe->list);

   137

        ec_soe_request_clear(soe);

   138

        kfree(soe);

   139

    }

   140

}

   141

   142

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

   143

   144

/** Prepares an FMMU configuration.

   145

 *

   146

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

   147

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

   148

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

   149

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

   150

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

   151

 * returns with success.

   152

 *

   153

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

   154

 * \retval  <0 Error code.

   155

 */

   156

int ec_slave_config_prepare_fmmu(

   157

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

   158

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

   159

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

   160

        ec_direction_t dir /**< PDO direction. */

   161

        )

   162

{

   163

    unsigned int i;

   164

    ec_fmmu_config_t *fmmu;

   165

   166

    // FMMU configuration already prepared?

   167

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

   168

        fmmu = &sc->fmmu_configs[i];

   169

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

   170

            return fmmu->logical_start_address;

   171

    }

   172

   173

    if (sc->used_fmmus == EC_MAX_FMMUS) {

   174

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

   175

                sc->alias, sc->position);

   176

        return -EOVERFLOW;

   177

    }

   178

   179

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

   180

   181

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

   182

    ec_fmmu_config_init(fmmu, sc, domain, sync_index, dir);

   183

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

   184

   185

    return fmmu->logical_start_address;

   186

}

   187

   188

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

   189

   190

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

   191

 *

   192

 * \retval  0 Success.

   193

 * \retval <0 Error code.

   194

 */

   195

int ec_slave_config_attach(

   196

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

   197

        )

   198

{

   199

    ec_slave_t *slave;

   200

   201

    if (sc->slave)

   202

        return 0; // already attached

   203

   204

    if (!(slave = ec_master_find_slave(

   205

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

   206

        if (sc->master->debug_level)

   207

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

   208

                    sc->alias, sc->position);

   209

        return -ENOENT;

   210

    }

   211

   212

    if (slave->config) {

   213

        if (sc->master->debug_level)

   214

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

   215

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

   216

                    sc->position, slave->ring_position);

   217

        return -EEXIST;

   218

    }

   219

   220

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

   221

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

   222

        if (sc->master->debug_level)

   223

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

   224

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

   225

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

   226

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

   227

                    sc->vendor_id, sc->product_code);

   228

        return -EINVAL;

   229

    }

   230

   231

    // attach slave

   232

    slave->config = sc;

   233

    sc->slave = slave;

   234

   235

    ec_slave_request_state(slave, EC_SLAVE_STATE_OP);

   236

   237

    if (sc->master->debug_level)

   238

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

   239

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

   240

   241

    return 0;

   242

}

   243

   244

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

   245

   246

/** Detaches the configuration from a slave object.

   247

 */

   248

void ec_slave_config_detach(

   249

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

   250

        )

   251

{

   252

    if (sc->slave) {

   253

        sc->slave->config = NULL;

   254

        sc->slave = NULL;

   255

    }

   256

}

   257

   258

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

   259

   260

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

   261

 */

   262

void ec_slave_config_load_default_sync_config(ec_slave_config_t *sc)

   263

{

   264

    uint8_t sync_index;

   265

    ec_sync_config_t *sync_config;

   266

    const ec_sync_t *sync;

   267

   268

    if (!sc->slave)

   269

        return;

   270

   271

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

   272

        sync_config = &sc->sync_configs[sync_index];

   273

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

   274

            sync_config->dir = ec_sync_default_direction(sync);

   275

            if (sync_config->dir == EC_DIR_INVALID)

   276

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

   277

                        sync_index, sc->slave->ring_position);

   278

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

   279

        }

   280

    }

   281

}

   282

   283

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

   284

   285

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

   286

 */

   287

void ec_slave_config_load_default_mapping(

   288

        const ec_slave_config_t *sc,

   289

        ec_pdo_t *pdo

   290

        )

   291

{

   292

    unsigned int i;

   293

    const ec_sync_t *sync;

   294

    const ec_pdo_t *default_pdo;

   295

   296

    if (!sc->slave)

   297

        return;

   298

   299

    if (sc->master->debug_level)

   300

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

   301

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

   302

   303

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

   304

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

   305

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

   306

   307

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

   308

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

   309

                continue;

   310

   311

            if (default_pdo->name) {

   312

                if (sc->master->debug_level)

   313

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

   314

   315

                // take PDO name from assigned one

   316

                ec_pdo_set_name(pdo, default_pdo->name);

   317

            }

   318

   319

            // copy entries (= default PDO mapping)

   320

            if (ec_pdo_copy_entries(pdo, default_pdo))

   321

                return;

   322

   323

            if (sc->master->debug_level) {

   324

                const ec_pdo_entry_t *entry;

   325

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

   326

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

   327

                            entry->index, entry->subindex);

   328

                }

   329

            }

   330

   331

            return;

   332

        }

   333

    }

   334

   335

    if (sc->master->debug_level)

   336

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

   337

}

   338

   339

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

   340

   341

/** Get the number of SDO configurations.

   342

 *

   343

 * \return Number of SDO configurations.

   344

 */

   345

unsigned int ec_slave_config_sdo_count(

   346

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

   347

        )

   348

{

   349

    const ec_sdo_request_t *req;

   350

    unsigned int count = 0;

   351

   352

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

   353

        count++;

   354

    }

   355

   356

    return count;

   357

}

   358

   359

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

   360

   361

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

   362

 *

   363

 * Const version.

   364

 */

   365

const ec_sdo_request_t *ec_slave_config_get_sdo_by_pos_const(

   366

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

   367

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

   368

        )

   369

{

   370

    const ec_sdo_request_t *req;

   371

   372

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

   373

        if (pos--)

   374

            continue;

   375

        return req;

   376

    }

   377

   378

    return NULL;

   379

}

   380

   381

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

   382

   383

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

   384

 */

   385

ec_sdo_request_t *ec_slave_config_find_sdo_request(

   386

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

   387

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

   388

        )

   389

{

   390

    ec_sdo_request_t *req;

   391

   392

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

   393

        if (pos--)

   394

            continue;

   395

        return req;

   396

    }

   397

   398

    return NULL;

   399

}

   400

   401

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

   402

   403

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

   404

 */

   405

ec_voe_handler_t *ec_slave_config_find_voe_handler(

   406

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

   407

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

   408

        )

   409

{

   410

    ec_voe_handler_t *voe;

   411

   412

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

   413

        if (pos--)

   414

            continue;

   415

        return voe;

   416

    }

   417

   418

    return NULL;

   419

}

   420

   421

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

   422

 *  Application interface

   423

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

   424

   425

int ecrt_slave_config_sync_manager(ec_slave_config_t *sc, uint8_t sync_index,

   426

        ec_direction_t dir, ec_watchdog_mode_t watchdog_mode)

   427

{

   428

    ec_sync_config_t *sync_config;

   429

   430

    if (sc->master->debug_level)

   431

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

   432

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

   433

                 sc, sync_index, dir, watchdog_mode);

   434

   435

    if (sync_index >= EC_MAX_SYNC_MANAGERS) {

   436

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

   437

        return -ENOENT;

   438

    }

   439

   440

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

   441

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

   442

        return -EINVAL;

   443

    }

   444

   445

    sync_config = &sc->sync_configs[sync_index];

   446

    sync_config->dir = dir;

   447

    sync_config->watchdog_mode = watchdog_mode;

   448

    return 0;

   449

}

   450

   451

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

   452

   453

void ecrt_slave_config_watchdog(ec_slave_config_t *sc,

   454

        uint16_t divider, uint16_t intervals)

   455

{

   456

    if (sc->master->debug_level)

   457

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

   458

                __func__, sc, divider, intervals);

   459

   460

    sc->watchdog_divider = divider;

   461

    sc->watchdog_intervals = intervals;

   462

}

   463

   464

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

   465

   466

int ecrt_slave_config_pdo_assign_add(ec_slave_config_t *sc,

   467

        uint8_t sync_index, uint16_t pdo_index)

   468

{

   469

    ec_pdo_t *pdo;

   470

   471

    if (sc->master->debug_level)

   472

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

   473

                "pdo_index = 0x%04X)\n", sc, sync_index, pdo_index);

   474

   475

    if (sync_index >= EC_MAX_SYNC_MANAGERS) {

   476

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

   477

        return -EINVAL;

   478

    }

   479

   480

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

   481

   482

    pdo = ec_pdo_list_add_pdo(&sc->sync_configs[sync_index].pdos, pdo_index);

   483

    if (IS_ERR(pdo)) {

   484

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

   485

        return PTR_ERR(pdo);

   486

    }

   487

    pdo->sync_index = sync_index;

   488

   489

    ec_slave_config_load_default_mapping(sc, pdo);

   490

   491

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

   492

    return 0;

   493

}

   494