/******************************************************************************
*
* $Id$
*
* Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH
*
* This file is part of the IgH EtherCAT Master.
*
* The IgH EtherCAT Master is free software; you can redistribute it
* and/or modify it under the terms of the GNU General Public License
* as published by the Free Software Foundation; either version 2 of the
* License, or (at your option) any later version.
*
* The IgH EtherCAT Master is distributed in the hope that it will be
* useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with the IgH EtherCAT Master; if not, write to the Free Software
* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
*
* The right to use EtherCAT Technology is granted and comes free of
* charge under condition of compatibility of product made by
* Licensee. People intending to distribute/sell products based on the
* code, have to sign an agreement to guarantee that products using
* software based on IgH EtherCAT master stay compatible with the actual
* EtherCAT specification (which are released themselves as an open
* standard) as the (only) precondition to have the right to use EtherCAT
* Technology, IP and trade marks.
*
*****************************************************************************/
/**
\file
Canopen-over-EtherCAT functions.
*/
/*****************************************************************************/
#include <linux/module.h>
#include "canopen.h"
/*****************************************************************************/
ssize_t ec_show_sdo_attribute(struct kobject *, struct attribute *, char *);
ssize_t ec_show_sdo_entry_attribute(struct kobject *, struct attribute *,
char *);
void ec_sdo_clear(struct kobject *);
void ec_sdo_entry_clear(struct kobject *);
/*****************************************************************************/
/** \cond */
EC_SYSFS_READ_ATTR(info);
static struct attribute *sdo_def_attrs[] = {
&attr_info,
NULL,
};
static struct sysfs_ops sdo_sysfs_ops = {
.show = &ec_show_sdo_attribute,
.store = NULL
};
static struct kobj_type ktype_ec_sdo = {
.release = ec_sdo_clear,
.sysfs_ops = &sdo_sysfs_ops,
.default_attrs = sdo_def_attrs
};
static struct attribute *sdo_entry_def_attrs[] = {
&attr_info,
NULL,
};
static struct sysfs_ops sdo_entry_sysfs_ops = {
.show = &ec_show_sdo_entry_attribute,
.store = NULL
};
static struct kobj_type ktype_ec_sdo_entry = {
.release = ec_sdo_entry_clear,
.sysfs_ops = &sdo_entry_sysfs_ops,
.default_attrs = sdo_entry_def_attrs
};
/** \endcond */
/*****************************************************************************/
/**
SDO constructor.
*/
int ec_sdo_init(ec_sdo_t *sdo, /**< SDO */
uint16_t index, /**< SDO index */
ec_slave_t *slave /**< parent slave */
)
{
sdo->index = index;
sdo->object_code = 0x00;
sdo->name = NULL;
sdo->subindices = 0;
INIT_LIST_HEAD(&sdo->entries);
// init kobject and add it to the hierarchy
memset(&sdo->kobj, 0x00, sizeof(struct kobject));
kobject_init(&sdo->kobj);
sdo->kobj.ktype = &ktype_ec_sdo;
sdo->kobj.parent = &slave->sdo_kobj;
if (kobject_set_name(&sdo->kobj, "%4X", sdo->index)) {
EC_ERR("Failed to set kobj name.\n");
return -1;
}
return 0;
}
/*****************************************************************************/
/**
SDO destructor.
*/
void ec_sdo_clear(struct kobject *kobj /**< SDO's kobject */)
{
ec_sdo_t *sdo = container_of(kobj, ec_sdo_t, kobj);
ec_sdo_entry_t *entry, *next;
// free all entries
list_for_each_entry_safe(entry, next, &sdo->entries, list) {
list_del(&entry->list);
kobject_del(&entry->kobj);
kobject_put(&entry->kobj);
}
if (sdo->name) kfree(sdo->name);
kfree(sdo);
}
/*****************************************************************************/
ssize_t ec_sdo_info(ec_sdo_t *sdo, /**< SDO */
char *buffer /**< target buffer */
)
{
off_t off = 0;
off += sprintf(buffer + off, "Index: 0x%04X\n", sdo->index);
off += sprintf(buffer + off, "Name: %s\n", sdo->name ? sdo->name : "");
off += sprintf(buffer + off, "Subindices: %i\n", sdo->subindices);
return off;
}
/*****************************************************************************/
ssize_t ec_show_sdo_attribute(struct kobject *kobj, /**< kobject */
struct attribute *attr,
char *buffer
)
{
ec_sdo_t *sdo = container_of(kobj, ec_sdo_t, kobj);
if (attr == &attr_info) {
return ec_sdo_info(sdo, buffer);
}
return 0;
}
/*****************************************************************************/
/**
SDO entry constructor.
*/
int ec_sdo_entry_init(ec_sdo_entry_t *entry, /**< SDO entry */
uint8_t subindex, /**< SDO entry subindex */
ec_sdo_t *sdo /**< parent SDO */
)
{
entry->subindex = subindex;
entry->data_type = 0x0000;
entry->bit_length = 0;
entry->description = NULL;
// init kobject and add it to the hierarchy
memset(&entry->kobj, 0x00, sizeof(struct kobject));
kobject_init(&entry->kobj);
entry->kobj.ktype = &ktype_ec_sdo_entry;
entry->kobj.parent = &sdo->kobj;
if (kobject_set_name(&entry->kobj, "%i", entry->subindex)) {
EC_ERR("Failed to set kobj name.\n");
return -1;
}
return 0;
}
/*****************************************************************************/
/**
SDO destructor.
*/
void ec_sdo_entry_clear(struct kobject *kobj /**< SDO entry's kobject */)
{
ec_sdo_entry_t *entry = container_of(kobj, ec_sdo_entry_t, kobj);
if (entry->description) kfree(entry->description);
kfree(entry);
}
/*****************************************************************************/
ssize_t ec_sdo_entry_info(ec_sdo_entry_t *entry, /**< SDO entry */
char *buffer /**< target buffer */
)
{
off_t off = 0;
off += sprintf(buffer + off, "Subindex: 0x%02X\n", entry->subindex);
off += sprintf(buffer + off, "Description: %s\n",
entry->description ? entry->description : "");
off += sprintf(buffer + off, "Data type: 0x%04X\n", entry->data_type);
off += sprintf(buffer + off, "Bit length: %i\n", entry->bit_length);
return off;
}
/*****************************************************************************/
ssize_t ec_show_sdo_entry_attribute(struct kobject *kobj, /**< kobject */
struct attribute *attr,
char *buffer
)
{
ec_sdo_entry_t *entry = container_of(kobj, ec_sdo_entry_t, kobj);
if (attr == &attr_info) {
return ec_sdo_entry_info(entry, buffer);
}
return 0;
}
/*****************************************************************************/
#if 0
int ecrt_slave_sdo_read(ec_slave_t *slave, /**< EtherCAT slave */
uint16_t sdo_index, /**< SDO index */
uint8_t sdo_subindex, /**< SDO subindex */
uint8_t *target, /**< memory for value */
size_t *size /**< target memory size */
)
{
uint8_t *data;
size_t rec_size, data_size;
uint32_t complete_size;
ec_datagram_t datagram;
ec_datagram_init(&datagram);
if (!(data = ec_slave_mbox_prepare_send(slave, &datagram, 0x03, 6)))
goto err;
EC_WRITE_U16(data, 0x2 << 12); // SDO request
EC_WRITE_U8 (data + 2, 0x2 << 5); // initiate upload request
EC_WRITE_U16(data + 3, sdo_index);
EC_WRITE_U8 (data + 5, sdo_subindex);
if (!(data = ec_slave_mbox_simple_io(slave, &datagram, &rec_size)))
goto err;
if (EC_READ_U16(data) >> 12 == 0x2 && // SDO request
EC_READ_U8 (data + 2) >> 5 == 0x4) { // abort SDO transfer request
EC_ERR("SDO upload 0x%04X:%X aborted on slave %i.\n",
sdo_index, sdo_subindex, slave->ring_position);
ec_canopen_abort_msg(EC_READ_U32(data + 6));
goto err;
}
if (EC_READ_U16(data) >> 12 != 0x3 || // SDO response
EC_READ_U8 (data + 2) >> 5 != 0x2 || // initiate upload response
EC_READ_U16(data + 3) != sdo_index || // index
EC_READ_U8 (data + 5) != sdo_subindex) { // subindex
EC_ERR("SDO upload 0x%04X:%X failed:\n", sdo_index, sdo_subindex);
EC_ERR("Invalid SDO upload response at slave %i!\n",
slave->ring_position);
ec_print_data(data, rec_size);
goto err;
}
if (rec_size < 10) {
EC_ERR("Received currupted SDO upload response!\n");
ec_print_data(data, rec_size);
goto err;
}
if ((complete_size = EC_READ_U32(data + 6)) > *size) {
EC_ERR("SDO data does not fit into buffer (%i / %i)!\n",
complete_size, *size);
goto err;
}
data_size = rec_size - 10;
if (data_size != complete_size) {
EC_ERR("SDO data incomplete - Fragmenting not implemented.\n");
goto err;
}
memcpy(target, data + 10, data_size);
ec_datagram_clear(&datagram);
return 0;
err:
ec_datagram_clear(&datagram);
return -1;
}
#endif
/*****************************************************************************/