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; either version 2 of the

    12  *  License, or (at your option) any later version.

    13  *

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

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

    16  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

    17  *  GNU General Public License for more details.

    18  *

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

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

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

    22  *

    23  *  The right to use EtherCAT Technology is granted and comes free of

    24  *  charge under condition of compatibility of product made by

    25  *  Licensee. People intending to distribute/sell products based on the

    26  *  code, have to sign an agreement to guarantee that products using

    27  *  software based on IgH EtherCAT master stay compatible with the actual

    28  *  EtherCAT specification (which are released themselves as an open

    29  *  standard) as the (only) precondition to have the right to use EtherCAT

    30  *  Technology, IP and trade marks.

    31  *

    32  *****************************************************************************/

    33 

    34 /**

    35    \file

    36    Canopen-over-EtherCAT functions.

    37 */

    38 

    39 /*****************************************************************************/

    40 

    41 #include <linux/module.h>

    42 

    43 #include "canopen.h"

    44 #include "master.h"

    45 

    46 /*****************************************************************************/

    47 

    48 ssize_t ec_show_sdo_attribute(struct kobject *, struct attribute *, char *);

    49 ssize_t ec_show_sdo_entry_attribute(struct kobject *, struct attribute *,

    50                                     char *);

    51 void ec_sdo_clear(struct kobject *);

    52 void ec_sdo_entry_clear(struct kobject *);

    53 

    54 void ec_sdo_request_init_read(ec_sdo_request_t *, ec_sdo_t *,

    55                               ec_sdo_entry_t *);

    56 void ec_sdo_request_clear(ec_sdo_request_t *);

    57 

    58 /*****************************************************************************/

    59 

    60 /** \cond */

    61 

    62 EC_SYSFS_READ_ATTR(info);

    63 EC_SYSFS_READ_ATTR(value);

    64 

    65 static struct attribute *sdo_def_attrs[] = {

    66     &attr_info,

    67     NULL,

    68 };

    69 

    70 static struct sysfs_ops sdo_sysfs_ops = {

    71     .show = &ec_show_sdo_attribute,

    72     .store = NULL

    73 };

    74 

    75 static struct kobj_type ktype_ec_sdo = {

    76     .release = ec_sdo_clear,

    77     .sysfs_ops = &sdo_sysfs_ops,

    78     .default_attrs = sdo_def_attrs

    79 };

    80 

    81 static struct attribute *sdo_entry_def_attrs[] = {

    82     &attr_info,

    83     &attr_value,

    84     NULL,

    85 };

    86 

    87 static struct sysfs_ops sdo_entry_sysfs_ops = {

    88     .show = &ec_show_sdo_entry_attribute,

    89     .store = NULL

    90 };

    91 

    92 static struct kobj_type ktype_ec_sdo_entry = {

    93     .release = ec_sdo_entry_clear,

    94     .sysfs_ops = &sdo_entry_sysfs_ops,

    95     .default_attrs = sdo_entry_def_attrs

    96 };

    97 

    98 /** \endcond */

    99 

   100 /*****************************************************************************/

   101 

   102 /**

   103    SDO constructor.

   104 */

   105 

   106 int ec_sdo_init(ec_sdo_t *sdo, /**< SDO */

   107                 uint16_t index, /**< SDO index */

   108                 ec_slave_t *slave /**< parent slave */

   109                 )

   110 {

   111     sdo->slave = slave;

   112     sdo->index = index;

   113     sdo->object_code = 0x00;

   114     sdo->name = NULL;

   115     sdo->subindices = 0;

   116     INIT_LIST_HEAD(&sdo->entries);

   117 

   118     // init kobject and add it to the hierarchy

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

   120     kobject_init(&sdo->kobj);

   121     sdo->kobj.ktype = &ktype_ec_sdo;

   122     sdo->kobj.parent = &slave->sdo_kobj;

   123     if (kobject_set_name(&sdo->kobj, "%4X", sdo->index)) {

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

   125         kobject_put(&sdo->kobj);

   126         return -1;

   127     }

   128     if (kobject_add(&sdo->kobj)) {

   129         EC_ERR("Failed to add SDO kobject.\n");

   130         kobject_put(&sdo->kobj);

   131         return -1;

   132     }

   133 

   134     return 0;

   135 }

   136 

   137 /*****************************************************************************/

   138 

   139 /**

   140    SDO destructor.

   141    Clears and frees an SDO object.

   142 */

   143 

   144 void ec_sdo_destroy(ec_sdo_t *sdo /**< SDO */)

   145 {

   146     ec_sdo_entry_t *entry, *next;

   147 

   148     // free all entries

   149     list_for_each_entry_safe(entry, next, &sdo->entries, list) {

   150         list_del(&entry->list);

   151         ec_sdo_entry_destroy(entry);

   152     }

   153 

   154     // destroy self

   155     kobject_del(&sdo->kobj);

   156     kobject_put(&sdo->kobj);

   157 }

   158 

   159 /*****************************************************************************/

   160 

   161 /**

   162    Clear and free SDO.

   163    This method is called by the kobject,

   164    once there are no more references to it.

   165 */

   166 

   167 void ec_sdo_clear(struct kobject *kobj /**< SDO's kobject */)

   168 {

   169     ec_sdo_t *sdo = container_of(kobj, ec_sdo_t, kobj);

   170 

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

   172 

   173     kfree(sdo);

   174 }

   175 

   176 /*****************************************************************************/

   177 

   178 ssize_t ec_sdo_info(ec_sdo_t *sdo, /**< SDO */

   179                     char *buffer /**< target buffer */

   180                     )

   181 {

   182     off_t off = 0;

   183 

   184     off += sprintf(buffer + off, "Index: 0x%04X\n", sdo->index);

   185     off += sprintf(buffer + off, "Name: %s\n", sdo->name ? sdo->name : "");

   186     off += sprintf(buffer + off, "Subindices: %i\n", sdo->subindices);

   187 

   188     return off;

   189 }

   190 

   191 /*****************************************************************************/

   192 

   193 ssize_t ec_show_sdo_attribute(struct kobject *kobj, /**< kobject */

   194                               struct attribute *attr,

   195                               char *buffer

   196                               )

   197 {

   198     ec_sdo_t *sdo = container_of(kobj, ec_sdo_t, kobj);

   199 

   200     if (attr == &attr_info) {

   201         return ec_sdo_info(sdo, buffer);

   202     }

   203 

   204     return 0;

   205 }

   206 

   207 /*****************************************************************************/

   208 

   209 /**

   210    SDO entry constructor.

   211 */

   212 

   213 int ec_sdo_entry_init(ec_sdo_entry_t *entry, /**< SDO entry */

   214                       uint8_t subindex, /**< SDO entry subindex */

   215                       ec_sdo_t *sdo /**< parent SDO */

   216                       )

   217 {

   218     entry->sdo = sdo;

   219     entry->subindex = subindex;

   220     entry->data_type = 0x0000;

   221     entry->bit_length = 0;

   222     entry->description = NULL;

   223 

   224     // init kobject and add it to the hierarchy

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

   226     kobject_init(&entry->kobj);

   227     entry->kobj.ktype = &ktype_ec_sdo_entry;

   228     entry->kobj.parent = &sdo->kobj;

   229     if (kobject_set_name(&entry->kobj, "%i", entry->subindex)) {

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

   231         kobject_put(&entry->kobj);

   232         return -1;

   233     }

   234     if (kobject_add(&entry->kobj)) {

   235         EC_ERR("Failed to add entry kobject.\n");

   236         kobject_put(&entry->kobj);

   237         return -1;

   238     }

   239 

   240     return 0;

   241 }

   242 

   243 /*****************************************************************************/

   244 

   245 /**

   246    SDO entry destructor.

   247    Clears and frees an SDO entry object.

   248 */

   249 

   250 void ec_sdo_entry_destroy(ec_sdo_entry_t *entry /**< SDO entry */)

   251 {

   252     // destroy self

   253     kobject_del(&entry->kobj);

   254     kobject_put(&entry->kobj);

   255 }

   256 

   257 /*****************************************************************************/

   258 

   259 /**

   260    Clear and free SDO entry.

   261    This method is called by the kobject,

   262    once there are no more references to it.

   263 */

   264 

   265 void ec_sdo_entry_clear(struct kobject *kobj /**< SDO entry's kobject */)

   266 {

   267     ec_sdo_entry_t *entry = container_of(kobj, ec_sdo_entry_t, kobj);

   268 

   269     if (entry->description) kfree(entry->description);

   270 

   271     kfree(entry);

   272 }

   273 

   274 /*****************************************************************************/

   275 

   276 ssize_t ec_sdo_entry_info(ec_sdo_entry_t *entry, /**< SDO entry */

   277                           char *buffer /**< target buffer */

   278                           )

   279 {

   280     off_t off = 0;

   281 

   282     off += sprintf(buffer + off, "Subindex: 0x%02X\n", entry->subindex);

   283     off += sprintf(buffer + off, "Description: %s\n",

   284                    entry->description ? entry->description : "");

   285     off += sprintf(buffer + off, "Data type: 0x%04X\n", entry->data_type);

   286     off += sprintf(buffer + off, "Bit length: %i\n", entry->bit_length);

   287 

   288     return off;

   289 }

   290 

   291 /*****************************************************************************/

   292 

   293 ssize_t ec_sdo_entry_format_data(ec_sdo_entry_t *entry, /**< SDO entry */

   294                                  ec_sdo_request_t *request, /**< SDO request */

   295                                  char *buffer /**< target buffer */

   296                                  )

   297 {

   298     off_t off = 0;

   299     unsigned int i;

   300 

   301     if (entry->data_type == 0x0002 && entry->bit_length == 8) { // int8

   302         off += sprintf(buffer + off, "%i\n", *((int8_t *) request->data));

   303     }

   304     else if (entry->data_type == 0x0003 && entry->bit_length == 16) { // int16

   305         off += sprintf(buffer + off, "%i\n", *((int16_t *) request->data));

   306     }

   307     else if (entry->data_type == 0x0004 && entry->bit_length == 32) { // int32

   308         off += sprintf(buffer + off, "%i\n", *((int32_t *) request->data));

   309     }

   310     else if (entry->data_type == 0x0005 && entry->bit_length == 8) { // uint8

   311         off += sprintf(buffer + off, "%i\n", *((uint8_t *) request->data));

   312     }

   313     else if (entry->data_type == 0x0006 && entry->bit_length == 16) { // uint16

   314         off += sprintf(buffer + off, "%i\n", *((uint16_t *) request->data));

   315     }

   316     else if (entry->data_type == 0x0007 && entry->bit_length == 32) { // uint32

   317         off += sprintf(buffer + off, "%i\n", *((uint32_t *) request->data));

   318     }

   319     else if (entry->data_type == 0x0009) { // string

   320         off += sprintf(buffer + off, "%s\n", request->data);

   321     }

   322     else {

   323         for (i = 0; i < request->size; i++)

   324             off += sprintf(buffer + off, "%02X (%c)\n",

   325                            request->data[i], request->data[i]);

   326     }

   327 

   328     return off;

   329 }

   330 

   331 /*****************************************************************************/

   332 

   333 ssize_t ec_sdo_entry_read_value(ec_sdo_entry_t *entry, /**< SDO entry */

   334                                 char *buffer /**< target buffer */

   335                                 )

   336 {

   337     ec_sdo_t *sdo = entry->sdo;

   338     ec_master_t *master = sdo->slave->master;

   339     off_t off = 0;

   340     ec_sdo_request_t request;

   341 

   342     if (down_interruptible(&master->sdo_sem)) {

   343         // interrupted by signal

   344         return -ERESTARTSYS;

   345     }

   346 

   347     ec_sdo_request_init_read(&request, sdo, entry);

   348 

   349     // this is necessary, because the completion object

   350     // is completed by the ec_master_flush_sdo_requests() function.

   351     INIT_COMPLETION(master->sdo_complete);

   352 

   353     master->sdo_request = &request;

   354     master->sdo_seq_user++;

   355     master->sdo_timer.expires = jiffies + 10;

   356     add_timer(&master->sdo_timer);

   357 

   358     wait_for_completion(&master->sdo_complete);

   359 

   360     master->sdo_request = NULL;

   361     up(&master->sdo_sem);

   362 

   363     if (request.return_code == 1 && request.data) {

   364         off += ec_sdo_entry_format_data(entry, &request, buffer);

   365     }

   366     else {

   367         off = -EINVAL;

   368     }

   369 

   370     ec_sdo_request_clear(&request);

   371     return off;

   372 }

   373 

   374 /*****************************************************************************/

   375 

   376 ssize_t ec_show_sdo_entry_attribute(struct kobject *kobj, /**< kobject */

   377                                     struct attribute *attr,

   378                                     char *buffer

   379                                     )

   380 {

   381     ec_sdo_entry_t *entry = container_of(kobj, ec_sdo_entry_t, kobj);

   382 

   383     if (attr == &attr_info) {

   384         return ec_sdo_entry_info(entry, buffer);

   385     }

   386     else if (attr == &attr_value) {

   387         return ec_sdo_entry_read_value(entry, buffer);

   388     }

   389 

   390     return 0;

   391 }

   392 

   393 /*****************************************************************************/

   394 

   395 /**

   396    SDO request constructor.

   397 */

   398 

   399 void ec_sdo_request_init_read(ec_sdo_request_t *req, /**< SDO request */

   400                               ec_sdo_t *sdo, /**< SDO */

   401                               ec_sdo_entry_t *entry /**< SDO entry */

   402                               )

   403 {

   404     req->sdo = sdo;

   405     req->entry = entry;

   406     req->data = NULL;

   407     req->size = 0;

   408     req->return_code = 0;

   409 }

   410 

   411 /*****************************************************************************/

   412 

   413 /**

   414    SDO request destructor.

   415 */

   416 

   417 void ec_sdo_request_clear(ec_sdo_request_t *req /**< SDO request */)

   418 {

   419     if (req->data) kfree(req->data);

   420 }

   421 

   422 /*****************************************************************************/