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

    55 

    56 /** \cond */

    57 

    58 EC_SYSFS_READ_ATTR(info);

    59 EC_SYSFS_READ_ATTR(value);

    60 

    61 static struct attribute *sdo_def_attrs[] = {

    62     &attr_info,

    63     NULL,

    64 };

    65 

    66 static struct sysfs_ops sdo_sysfs_ops = {

    67     .show = &ec_show_sdo_attribute,

    68     .store = NULL

    69 };

    70 

    71 static struct kobj_type ktype_ec_sdo = {

    72     .release = ec_sdo_clear,

    73     .sysfs_ops = &sdo_sysfs_ops,

    74     .default_attrs = sdo_def_attrs

    75 };

    76 

    77 static struct attribute *sdo_entry_def_attrs[] = {

    78     &attr_info,

    79     &attr_value,

    80     NULL,

    81 };

    82 

    83 static struct sysfs_ops sdo_entry_sysfs_ops = {

    84     .show = &ec_show_sdo_entry_attribute,

    85     .store = NULL

    86 };

    87 

    88 static struct kobj_type ktype_ec_sdo_entry = {

    89     .release = ec_sdo_entry_clear,

    90     .sysfs_ops = &sdo_entry_sysfs_ops,

    91     .default_attrs = sdo_entry_def_attrs

    92 };

    93 

    94 /** \endcond */

    95 

    96 /*****************************************************************************/

    97 

    98 /**

    99    Sdo constructor.

   100 */

   101 

   102 int ec_sdo_init(ec_sdo_t *sdo, /**< Sdo */

   103                 uint16_t index, /**< Sdo index */

   104                 ec_slave_t *slave /**< parent slave */

   105                 )

   106 {

   107     sdo->slave = slave;

   108     sdo->index = index;

   109     sdo->object_code = 0x00;

   110     sdo->name = NULL;

   111     sdo->subindices = 0;

   112     INIT_LIST_HEAD(&sdo->entries);

   113 

   114     // init kobject and add it to the hierarchy

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

   116     kobject_init(&sdo->kobj);

   117     sdo->kobj.ktype = &ktype_ec_sdo;

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

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

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

   121         kobject_put(&sdo->kobj);

   122         return -1;

   123     }

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

   125         EC_ERR("Failed to add Sdo kobject.\n");

   126         kobject_put(&sdo->kobj);

   127         return -1;

   128     }

   129 

   130     return 0;

   131 }

   132 

   133 /*****************************************************************************/

   134 

   135 /**

   136    Sdo destructor.

   137    Clears and frees an Sdo object.

   138 */

   139 

   140 void ec_sdo_destroy(ec_sdo_t *sdo /**< Sdo */)

   141 {

   142     ec_sdo_entry_t *entry, *next;

   143 

   144     // free all entries

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

   146         list_del(&entry->list);

   147         ec_sdo_entry_destroy(entry);

   148     }

   149 

   150     // destroy self

   151     kobject_del(&sdo->kobj);

   152     kobject_put(&sdo->kobj);

   153 }

   154 

   155 /*****************************************************************************/

   156 

   157 /**

   158    Clear and free Sdo.

   159    This method is called by the kobject,

   160    once there are no more references to it.

   161 */

   162 

   163 void ec_sdo_clear(struct kobject *kobj /**< Sdo's kobject */)

   164 {

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

   166 

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

   168 

   169     kfree(sdo);

   170 }

   171 

   172 /*****************************************************************************/

   173 

   174 /**

   175  * Get and Sdo entry from an Sdo via its subindex.

   176  * \return pointer to Sdo entry, or NULL.

   177  */

   178 

   179 ec_sdo_entry_t *ec_sdo_get_entry(

   180         ec_sdo_t *sdo, /**< Sdo */

   181         uint8_t subindex /**< entry subindex */

   182         )

   183 {

   184     ec_sdo_entry_t *entry;

   185 

   186     list_for_each_entry(entry, &sdo->entries, list) {

   187         if (entry->subindex != subindex) continue;

   188         return entry;

   189     }

   190 

   191     return NULL;

   192 }

   193 

   194 /*****************************************************************************/

   195 

   196 /**

   197  * Print Sdo information to a buffer.

   198  * /return size of bytes written to buffer.

   199  */ 

   200 

   201 ssize_t ec_sdo_info(ec_sdo_t *sdo, /**< Sdo */

   202                     char *buffer /**< target buffer */

   203                     )

   204 {

   205     off_t off = 0;

   206 

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

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

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

   210 

   211     return off;

   212 }

   213 

   214 /*****************************************************************************/

   215 

   216 /**

   217  * Show an Sdo as Sysfs attribute.

   218  * /return size of bytes written to buffer.

   219  */ 

   220 

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

   222                               struct attribute *attr,

   223                               char *buffer

   224                               )

   225 {

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

   227 

   228     if (attr == &attr_info) {

   229         return ec_sdo_info(sdo, buffer);

   230     }

   231 

   232     return 0;

   233 }

   234 

   235 /*****************************************************************************/

   236 

   237 /**

   238    Sdo entry constructor.

   239 */

   240 

   241 int ec_sdo_entry_init(ec_sdo_entry_t *entry, /**< Sdo entry */

   242                       uint8_t subindex, /**< Sdo entry subindex */

   243                       ec_sdo_t *sdo /**< parent Sdo */

   244                       )

   245 {

   246     entry->sdo = sdo;

   247     entry->subindex = subindex;

   248     entry->data_type = 0x0000;

   249     entry->bit_length = 0;

   250     entry->description = NULL;

   251 

   252     // init kobject and add it to the hierarchy

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

   254     kobject_init(&entry->kobj);

   255     entry->kobj.ktype = &ktype_ec_sdo_entry;

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

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

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

   259         kobject_put(&entry->kobj);

   260         return -1;

   261     }

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

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

   264         kobject_put(&entry->kobj);

   265         return -1;

   266     }

   267 

   268     return 0;

   269 }

   270 

   271 /*****************************************************************************/

   272 

   273 /**

   274    Sdo entry destructor.

   275    Clears and frees an Sdo entry object.

   276 */

   277 

   278 void ec_sdo_entry_destroy(ec_sdo_entry_t *entry /**< Sdo entry */)

   279 {

   280     // destroy self

   281     kobject_del(&entry->kobj);

   282     kobject_put(&entry->kobj);

   283 }

   284 

   285 /*****************************************************************************/

   286 

   287 /**

   288    Clear and free Sdo entry.

   289    This method is called by the kobject,

   290    once there are no more references to it.

   291 */

   292 

   293 void ec_sdo_entry_clear(struct kobject *kobj /**< Sdo entry's kobject */)

   294 {

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

   296 

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

   298 

   299     kfree(entry);

   300 }

   301 

   302 /*****************************************************************************/

   303  

   304 /**

   305  * Print Sdo entry information to a buffer.

   306  * \return number of bytes written.

   307  */

   308 

   309 ssize_t ec_sdo_entry_info(ec_sdo_entry_t *entry, /**< Sdo entry */

   310                           char *buffer /**< target buffer */

   311                           )

   312 {

   313     off_t off = 0;

   314 

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

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

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

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

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

   320 

   321     return off;

   322 }

   323 

   324 /*****************************************************************************/

   325 

   326 /**

   327  * Format entry data based on the CANopen data type and print it to a buffer.

   328  * \return number of bytes written.

   329  */

   330 

   331 ssize_t ec_sdo_entry_format_data(ec_sdo_entry_t *entry, /**< Sdo entry */

   332                                  ec_sdo_request_t *request, /**< Sdo request */

   333                                  char *buffer /**< target buffer */

   334                                  )

   335 {

   336     off_t off = 0;

   337     unsigned int i;

   338 

   339     if (entry->data_type == 0x0002) { // int8

   340         int8_t value;

   341         if (entry->bit_length != 8)

   342             goto not_fit;

   343         value = EC_READ_S8(request->data);

   344         off += sprintf(buffer + off, "%i (0x%02X)\n", value, value);

   345     }

   346     else if (entry->data_type == 0x0003) { // int16

   347         int16_t value;

   348         if (entry->bit_length != 16)

   349             goto not_fit;

   350         value = EC_READ_S16(request->data);

   351         off += sprintf(buffer + off, "%i (0x%04X)\n", value, value);

   352     }

   353     else if (entry->data_type == 0x0004) { // int32

   354         int32_t value;

   355         if (entry->bit_length != 32)

   356             goto not_fit;

   357         value = EC_READ_S16(request->data);

   358         off += sprintf(buffer + off, "%i (0x%08X)\n", value, value);

   359     }

   360     else if (entry->data_type == 0x0005) { // uint8

   361         uint8_t value;

   362         if (entry->bit_length != 8)

   363             goto not_fit;

   364         value = EC_READ_U8(request->data);

   365         off += sprintf(buffer + off, "%u (0x%02X)\n", value, value);

   366     }

   367     else if (entry->data_type == 0x0006) { // uint16

   368         uint16_t value;

   369         if (entry->bit_length != 16)

   370             goto not_fit;

   371         value = EC_READ_U16(request->data); 

   372         off += sprintf(buffer + off, "%u (0x%04X)\n", value, value);

   373     }

   374     else if (entry->data_type == 0x0007) { // uint32

   375         uint32_t value;

   376         if (entry->bit_length != 32)

   377             goto not_fit;

   378         value = EC_READ_U32(request->data);

   379         off += sprintf(buffer + off, "%i (0x%08X)\n", value, value);

   380     }

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

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

   383     }

   384     else {

   385         off += sprintf(buffer + off, "Unknown data type %04X. Data:\n",

   386                 entry->data_type);

   387         goto raw_data;

   388     }

   389     return off;

   390 

   391 not_fit:

   392     off += sprintf(buffer + off,

   393             "Invalid bit length %u for data type 0x%04X. Data:\n",

   394             entry->bit_length, entry->data_type);

   395 raw_data:

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

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

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

   399     return off;

   400 }

   401 

   402 /*****************************************************************************/

   403 

   404 /**

   405  * Start Sdo entry reading.

   406  * This function blocks, until reading is finished, and is interruptible as

   407  * long as the master state machine has not begun with reading.

   408  * \return number of bytes written to buffer, or error code.

   409  */

   410 

   411 ssize_t ec_sdo_entry_read_value(ec_sdo_entry_t *entry, /**< Sdo entry */

   412                                 char *buffer /**< target buffer */

   413                                 )

   414 {

   415     ec_master_t *master = entry->sdo->slave->master;

   416     off_t off = 0;

   417     ec_sdo_request_t request;

   418 

   419     ec_sdo_request_init_read(&request, entry->sdo->slave,

   420             entry->sdo->index, entry->subindex);

   421 

   422     // schedule request.

   423     down(&master->sdo_sem);

   424     list_add_tail(&request.list, &master->sdo_requests);

   425     up(&master->sdo_sem);

   426 

   427     // wait for processing through FSM

   428     if (wait_event_interruptible(master->sdo_queue,

   429                 request.state != EC_REQUEST_QUEUED)) {

   430         // interrupted by signal

   431         down(&master->sdo_sem);

   432         if (request.state == EC_REQUEST_QUEUED) {

   433             list_del(&request.list);

   434             up(&master->sdo_sem);

   435             return -EINTR;

   436         }

   437         // request already processing: interrupt not possible.

   438         up(&master->sdo_sem);

   439     }

   440 

   441     // wait until master FSM has finished processing

   442     wait_event(master->sdo_queue, request.state != EC_REQUEST_IN_PROGRESS);

   443 

   444     if (request.state != EC_REQUEST_COMPLETE)

   445         return -EIO;

   446 

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

   448 

   449     ec_sdo_request_clear(&request);

   450     return off;

   451 }

   452 

   453 /*****************************************************************************/

   454 

   455 /**

   456  * Show an Sdo entry as Sysfs attribute.

   457  * /return size of bytes written to buffer.

   458  */ 

   459 

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

   461                                     struct attribute *attr,

   462                                     char *buffer

   463                                     )

   464 {

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

   466 

   467     if (attr == &attr_info) {

   468         return ec_sdo_entry_info(entry, buffer);

   469     }

   470     else if (attr == &attr_value) {

   471         return ec_sdo_entry_read_value(entry, buffer);

   472     }

   473 

   474     return 0;

   475 }

   476 

   477 /*****************************************************************************/

   478 

   479 /**

   480    Sdo request constructor.

   481 */

   482 

   483 void ec_sdo_request_init_read(

   484         ec_sdo_request_t *req, /**< Sdo request */

   485         ec_slave_t *slave, /**< Slave owning the Sdo. */

   486         uint16_t index, /**< Sdo index. */

   487         uint8_t subindex /**< Sdo subindex. */

   488         )

   489 {

   490     req->slave = slave;

   491     req->index = index;

   492     req->subindex = subindex;

   493     req->data = NULL;

   494     req->size = 0;

   495     req->state = EC_REQUEST_QUEUED;

   496 }

   497 

   498 /*****************************************************************************/

   499 

   500 /**

   501    Sdo request destructor.

   502 */

   503 

   504 void ec_sdo_request_clear(ec_sdo_request_t *req /**< Sdo request */)

   505 {

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

   507 }

   508 

   509 /*****************************************************************************/