etherlabmaster: comparison master/slave.c

equal deleted inserted replaced

-:60b2aad9d40b
+:1cc865ba17c2
 extern const ec_code_msg_t al_status_messages[];
 /*****************************************************************************/
+void ec_slave_clear(struct kobject *);
+void ec_slave_sdos_clear(struct kobject *);
 ssize_t ec_show_slave_attribute(struct kobject *, struct attribute *, char *);
 ssize_t ec_store_slave_attribute(struct kobject *, struct attribute *,
 const char *, size_t);
 /*****************************************************************************/
 .release = ec_slave_clear,
 .sysfs_ops = &sysfs_ops,
 .default_attrs = def_attrs
 };
+static struct kobj_type ktype_ec_slave_sdos = {
+.release = ec_slave_sdos_clear
+};
 /** \endcond */
 /*****************************************************************************/
 /**
 unsigned int i;
 slave->ring_position = ring_position;
 slave->station_address = station_address;
-// init kobject and add it to the hierarchy
-memset(&slave->kobj, 0x00, sizeof(struct kobject));
-kobject_init(&slave->kobj);
-slave->kobj.ktype = &ktype_ec_slave;
-slave->kobj.parent = &master->kobj;
-if (kobject_set_name(&slave->kobj, "slave%03i", slave->ring_position)) {
-EC_ERR("Failed to set kobject name.\n");
-kobject_put(&slave->kobj);
-return -1;
-}
 slave->master = master;
 slave->requested_state = EC_SLAVE_STATE_UNKNOWN;
 slave->current_state = EC_SLAVE_STATE_UNKNOWN;
+slave->configured = 0;
 slave->error_flag = 0;
 slave->online = 1;
 slave->fmmu_count = 0;
-slave->registered = 0;
 slave->coupler_index = 0;
 slave->coupler_subindex = 0xFFFF;
 slave->base_type = 0;
 INIT_LIST_HEAD(&slave->sii_strings);
 INIT_LIST_HEAD(&slave->sii_syncs);
 INIT_LIST_HEAD(&slave->sii_pdos);
 INIT_LIST_HEAD(&slave->sdo_dictionary);
 INIT_LIST_HEAD(&slave->sdo_confs);
-INIT_LIST_HEAD(&slave->varsize_fields);
+slave->sdo_dictionary_fetched = 0;
+slave->jiffies_preop = 0;
 for (i = 0; i < 4; i++) {
 slave->dl_link[i] = 0;
 slave->dl_loop[i] = 0;
 slave->dl_signal[i] = 0;
 slave->sii_physical_layer[i] = 0xFF;
 }
+// init kobject and add it to the hierarchy
+memset(&slave->kobj, 0x00, sizeof(struct kobject));
+kobject_init(&slave->kobj);
+slave->kobj.ktype = &ktype_ec_slave;
+slave->kobj.parent = &master->kobj;
+if (kobject_set_name(&slave->kobj, "slave%03i", slave->ring_position)) {
+EC_ERR("Failed to set kobject name.\n");
+goto out_slave_put;
+}
+if (kobject_add(&slave->kobj)) {
+EC_ERR("Failed to add slave's kobject.\n");
+goto out_slave_put;
+}
+// init SDO kobject and add it to the hierarchy
+memset(&slave->sdo_kobj, 0x00, sizeof(struct kobject));
+kobject_init(&slave->sdo_kobj);
+slave->sdo_kobj.ktype = &ktype_ec_slave_sdos;
+slave->sdo_kobj.parent = &slave->kobj;
+if (kobject_set_name(&slave->sdo_kobj, "sdos")) {
+EC_ERR("Failed to set kobject name.\n");
+goto out_sdo_put;
+}
+if (kobject_add(&slave->sdo_kobj)) {
+EC_ERR("Failed to add SDOs kobject.\n");
+goto out_sdo_put;
+}
 return 0;
+out_sdo_put:
+kobject_put(&slave->sdo_kobj);
+kobject_del(&slave->kobj);
+out_slave_put:
+kobject_put(&slave->kobj);
+return -1;
 }
 /*****************************************************************************/
 /**
 Slave destructor.
+Clears and frees a slave object.
+*/
+void ec_slave_destroy(ec_slave_t *slave /**< EtherCAT slave */)
+{
+ec_sdo_t *sdo, *next_sdo;
+// free all SDOs
+list_for_each_entry_safe(sdo, next_sdo, &slave->sdo_dictionary, list) {
+list_del(&sdo->list);
+ec_sdo_destroy(sdo);
+}
+// free SDO kobject
+kobject_del(&slave->sdo_kobj);
+kobject_put(&slave->sdo_kobj);
+// destroy self
+kobject_del(&slave->kobj);
+kobject_put(&slave->kobj);
+}
+/*****************************************************************************/
+/**
+Clear and free slave.
+This method is called by the kobject,
+once there are no more references to it.
 */
 void ec_slave_clear(struct kobject *kobj /**< kobject of the slave */)
 {
 ec_slave_t *slave;
 ec_sii_string_t *string, *next_str;
 ec_sii_sync_t *sync, *next_sync;
 ec_sii_pdo_t *pdo, *next_pdo;
 ec_sii_pdo_entry_t *entry, *next_ent;
-ec_sdo_t *sdo, *next_sdo;
-ec_sdo_entry_t *en, *next_en;
 ec_sdo_data_t *sdodata, *next_sdodata;
-ec_varsize_t *var, *next_var;
 slave = container_of(kobj, ec_slave_t, kobj);
 // free all string objects
 list_for_each_entry_safe(string, next_str, &slave->sii_strings, list) {
 if (slave->sii_group) kfree(slave->sii_group);
 if (slave->sii_image) kfree(slave->sii_image);
 if (slave->sii_order) kfree(slave->sii_order);
 if (slave->sii_name) kfree(slave->sii_name);
-// free all SDOs
-list_for_each_entry_safe(sdo, next_sdo, &slave->sdo_dictionary, list) {
-list_del(&sdo->list);
-if (sdo->name) kfree(sdo->name);
-// free all SDO entries
-list_for_each_entry_safe(en, next_en, &sdo->entries, list) {
-list_del(&en->list);
-kfree(en);
-}
-kfree(sdo);
-}
 // free all SDO configurations
 list_for_each_entry_safe(sdodata, next_sdodata, &slave->sdo_confs, list) {
 list_del(&sdodata->list);
 kfree(sdodata->data);
 kfree(sdodata);
 }
-// free information about variable sized data fields
-list_for_each_entry_safe(var, next_var, &slave->varsize_fields, list) {
-list_del(&var->list);
-kfree(var);
-}
 if (slave->eeprom_data) kfree(slave->eeprom_data);
 if (slave->new_eeprom_data) kfree(slave->new_eeprom_data);
+kfree(slave);
+}
+/*****************************************************************************/
+/**
+*/
+void ec_slave_sdos_clear(struct kobject *kobj /**< kobject for SDOs */)
+{
+}
+/*****************************************************************************/
+/**
+Reset slave from operation mode.
+*/
+void ec_slave_reset(ec_slave_t *slave /**< EtherCAT slave */)
+{
+ec_sdo_data_t *sdodata, *next_sdodata;
+ec_sii_sync_t *sync;
+// remove FMMU configurations
+slave->fmmu_count = 0;
+// free all SDO configurations
+list_for_each_entry_safe(sdodata, next_sdodata, &slave->sdo_confs, list) {
+list_del(&sdodata->list);
+kfree(sdodata->data);
+kfree(sdodata);
+}
+// remove estimated sync manager sizes
+list_for_each_entry(sync, &slave->sii_syncs, list) {
+sync->est_length = 0;
+}
+}
+/*****************************************************************************/
+/**
+*/
+void ec_slave_request_state(ec_slave_t *slave, /**< ETherCAT slave */
+ec_slave_state_t state /**< new state */
+)
+{
+slave->requested_state = state;
+slave->error_flag = 0;
 }
 /*****************************************************************************/
 /**
 sync->physical_start_address = EC_READ_U16(data);
 sync->length                 = EC_READ_U16(data + 2);
 sync->control_register       = EC_READ_U8 (data + 4);
 sync->enable                 = EC_READ_U8 (data + 6);
+sync->est_length = 0;
 list_add_tail(&sync->list, &slave->sii_syncs);
 }
 return 0;
 }
 }
 memcpy(*ptr, string->data, string->size + 1);
 return 0;
 }
-EC_WARN("String %i not found in slave %i.\n", index, slave->ring_position);
+if (slave->master->debug_level)
+EC_WARN("String %i not found in slave %i.\n",
+index, slave->ring_position);
 err_string = "(string not found)";
 if (!(*ptr = (char *) kmalloc(strlen(err_string) + 1, GFP_ATOMIC))) {
 EC_WARN("Unable to allocate string memory.\n");
 const ec_domain_t *domain, /**< domain */
 const ec_sii_sync_t *sync  /**< sync manager */
 )
 {
 unsigned int i;
+ec_fmmu_t *fmmu;
 // FMMU configuration already prepared?
-for (i = 0; i < slave->fmmu_count; i++)
+for (i = 0; i < slave->fmmu_count; i++) {
-if (slave->fmmus[i].domain == domain && slave->fmmus[i].sync == sync)
+fmmu = &slave->fmmus[i];
+if (fmmu->domain == domain && fmmu->sync == sync)
 return 0;
+}
 // reserve new FMMU...
 if (slave->fmmu_count >= slave->base_fmmu_count) {
 EC_ERR("Slave %i FMMU limit reached!\n", slave->ring_position);
 return -1;
 }
-slave->fmmus[slave->fmmu_count].domain = domain;
+fmmu = &slave->fmmus[slave->fmmu_count];
-slave->fmmus[slave->fmmu_count].sync = sync;
-slave->fmmus[slave->fmmu_count].logical_start_address = 0;
+fmmu->index = slave->fmmu_count;
+fmmu->domain = domain;
+fmmu->sync = sync;
+fmmu->logical_start_address = 0;
 slave->fmmu_count++;
-slave->registered = 1;
 return 0;
 }
 /*****************************************************************************/
 off_t off = 0;
 ec_sii_sync_t *sync;
 ec_sii_pdo_t *pdo;
 ec_sii_pdo_entry_t *pdo_entry;
 int first, i;
+ec_sdo_data_t *sdodata;
+char str[20];
 off += sprintf(buffer + off, "\nName: ");
 if (slave->sii_name)
 off += sprintf(buffer + off, "%s", slave->sii_name);
 off += sprintf(buffer + off, "Product code: 0x%08X\n\n",
 slave->sii_product_code);
 off += sprintf(buffer + off, "State: ");
 off += ec_state_string(slave->current_state, buffer + off);
-off += sprintf(buffer + off, "\nRing position: %i\n",
+off += sprintf(buffer + off, "\nFlags: %s, %s\n",
+slave->online ? "online" : "OFFLINE",
+slave->error_flag ? "ERROR" : "ok");
+off += sprintf(buffer + off, "Ring position: %i\n",
 slave->ring_position);
 off += sprintf(buffer + off, "Advanced position: %i:%i\n",
 slave->coupler_index, slave->coupler_subindex);
 off += sprintf(buffer + off, "Coupler: %s\n\n",
 ec_slave_is_coupler(slave) ? "yes" : "no");
 pdo_entry->index, pdo_entry->subindex,
 pdo_entry->bit_length);
 }
 }
+if (!list_empty(&slave->sdo_confs))
+off += sprintf(buffer + off, "\nSDO configurations:\n");
+list_for_each_entry(sdodata, &slave->sdo_confs, list) {
+switch (sdodata->size) {
+case 1: sprintf(str, "%i", EC_READ_U8(sdodata->data)); break;
+case 2: sprintf(str, "%i", EC_READ_U16(sdodata->data)); break;
+case 4: sprintf(str, "%i", EC_READ_U32(sdodata->data)); break;
+default: sprintf(str, "(invalid size)"); break;
+}
+off += sprintf(buffer + off, "  0x%04X:%-3i -> %s\n",
+sdodata->index, sdodata->subindex, str);
+}
 off += sprintf(buffer + off, "\n");
 return off;
 }
 )
 {
 ec_slave_t *slave = container_of(kobj, ec_slave_t, kobj);
 if (attr == &attr_state) {
-char state[25];
+char state[EC_STATE_STRING_SIZE];
 if (!strcmp(buffer, "INIT\n"))
-slave->requested_state = EC_SLAVE_STATE_INIT;
+ec_slave_request_state(slave, EC_SLAVE_STATE_INIT);
 else if (!strcmp(buffer, "PREOP\n"))
-slave->requested_state = EC_SLAVE_STATE_PREOP;
+ec_slave_request_state(slave, EC_SLAVE_STATE_PREOP);
 else if (!strcmp(buffer, "SAVEOP\n"))
-slave->requested_state = EC_SLAVE_STATE_SAVEOP;
+ec_slave_request_state(slave, EC_SLAVE_STATE_SAVEOP);
 else if (!strcmp(buffer, "OP\n"))
-slave->requested_state = EC_SLAVE_STATE_OP;
+ec_slave_request_state(slave, EC_SLAVE_STATE_OP);
 else {
 EC_ERR("Invalid slave state \"%s\"!\n", buffer);
 return -EINVAL;
 }
 ec_state_string(slave->requested_state, state);
 EC_INFO("Accepted new state %s for slave %i.\n",
 state, slave->ring_position);
-slave->error_flag = 0;
 return size;
 }
 else if (attr == &attr_eeprom) {
 if (!ec_slave_write_eeprom(slave, buffer, size))
 return size;
 /**< sync manager */
 )
 {
 ec_sii_pdo_t *pdo;
 ec_sii_pdo_entry_t *pdo_entry;
-unsigned int bit_size;
+unsigned int bit_size, byte_size;
 if (sync->length) return sync->length;
+if (sync->est_length) return sync->est_length;
 bit_size = 0;
 list_for_each_entry(pdo, &slave->sii_pdos, list) {
 if (pdo->sync_index != sync->index) continue;
 bit_size += pdo_entry->bit_length;
 }
 }
 if (bit_size % 8) // round up to full bytes
-return bit_size / 8 + 1;
+byte_size = bit_size / 8 + 1;
 else
-return bit_size / 8;
+byte_size = bit_size / 8;
+return byte_size;
 }
 /*****************************************************************************/
 /**
 */
 int ec_slave_has_subbus(const ec_slave_t *slave /**< EtherCAT slave */)
 {
 return slave->sii_vendor_id == 0x00000002
-&& slave->sii_product_code == 0x13ED3052;
+&& slave->sii_product_code == 0x04602c22;
 }
 /*****************************************************************************/
 /**
 memcpy(sdodata->data, data, size);
 sdodata->size = size;
 list_add_tail(&sdodata->list, &slave->sdo_confs);
 return 0;
+}
+/*****************************************************************************/
+/**
+\return 0 in case of success, else < 0
+*/
+int ec_slave_validate(const ec_slave_t *slave, /**< EtherCAT slave */
+uint32_t vendor_id, /**< vendor ID */
+uint32_t product_code /**< product code */
+)
+{
+if (vendor_id != slave->sii_vendor_id ||
+product_code != slave->sii_product_code) {
+EC_ERR("Invalid slave type at position %i - Requested: 0x%08X 0x%08X,"
+" found: 0x%08X 0x%08X\".\n", slave->ring_position, vendor_id,
+product_code, slave->sii_vendor_id, slave->sii_product_code);
+return -1;
+}
+return 0;
+}
+/*****************************************************************************/
+/**
+Counts the total number of SDOs and entries in the dictionary.
+*/
+void ec_slave_sdo_dict_info(const ec_slave_t *slave, /**< EtherCAT slave */
+unsigned int *sdo_count, /**< number of SDOs */
+unsigned int *entry_count /**< total number of
+entries */
+)
+{
+unsigned int sdos = 0, entries = 0;
+ec_sdo_t *sdo;
+ec_sdo_entry_t *entry;
+list_for_each_entry(sdo, &slave->sdo_dictionary, list) {
+sdos++;
+list_for_each_entry(entry, &sdo->entries, list) {
+entries++;
+}
+}
+*sdo_count = sdos;
+*entry_count = entries;
 }
 /******************************************************************************
 *  Realtime interface
 *****************************************************************************/

branch	stable-1.1
changeset 1732	1cc865ba17c2
parent 1731	60b2aad9d40b
child 1739	5fcbd29151d2