/******************************************************************************
*
* $Id$
*
* 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
EtherCAT slave methods.
*/
/*****************************************************************************/
#include <linux/module.h>
#include <linux/delay.h>
#include "globals.h"
#include "datagram.h"
#include "master.h"
#include "slave_config.h"
#include "slave.h"
/*****************************************************************************/
extern const ec_code_msg_t al_status_messages[];
/*****************************************************************************/
char *ec_slave_sii_string(ec_slave_t *, unsigned int);
/*****************************************************************************/
/**
Slave constructor.
\return 0 in case of success, else < 0
*/
void ec_slave_init(
ec_slave_t *slave, /**< EtherCAT slave */
ec_master_t *master, /**< EtherCAT master */
uint16_t ring_position, /**< ring position */
uint16_t station_address /**< station address to configure */
)
{
unsigned int i;
slave->master = master;
slave->ring_position = ring_position;
slave->station_address = station_address;
slave->config = NULL;
slave->requested_state = EC_SLAVE_STATE_PREOP;
slave->current_state = EC_SLAVE_STATE_UNKNOWN;
slave->error_flag = 0;
slave->force_config = 0;
slave->base_type = 0;
slave->base_revision = 0;
slave->base_build = 0;
slave->base_fmmu_count = 0;
for (i = 0; i < EC_SLAVE_MAX_PORTS; i++) {
slave->ports[i].dl_link = 0;
slave->ports[i].dl_loop = 0;
slave->ports[i].dl_signal = 0;
slave->sii.physical_layer[i] = 0xFF;
}
slave->sii_words = NULL;
slave->sii_nwords = 0;
slave->sii.alias = 0;
slave->sii.vendor_id = 0;
slave->sii.product_code = 0;
slave->sii.revision_number = 0;
slave->sii.serial_number = 0;
slave->sii.rx_mailbox_offset = 0;
slave->sii.rx_mailbox_size = 0;
slave->sii.tx_mailbox_offset = 0;
slave->sii.tx_mailbox_size = 0;
slave->sii.mailbox_protocols = 0;
slave->sii.strings = NULL;
slave->sii.string_count = 0;
slave->sii.has_general = 0;
slave->sii.group = NULL;
slave->sii.image = NULL;
slave->sii.order = NULL;
slave->sii.name = NULL;
memset(&slave->sii.coe_details, 0x00, sizeof(ec_sii_coe_details_t));
memset(&slave->sii.general_flags, 0x00, sizeof(ec_sii_general_flags_t));
slave->sii.current_on_ebus = 0;
slave->sii.syncs = NULL;
slave->sii.sync_count = 0;
INIT_LIST_HEAD(&slave->sii.pdos);
INIT_LIST_HEAD(&slave->sdo_dictionary);
slave->sdo_dictionary_fetched = 0;
slave->jiffies_preop = 0;
}
/*****************************************************************************/
/**
Slave destructor.
Clears and frees a slave object.
*/
void ec_slave_clear(ec_slave_t *slave /**< EtherCAT slave */)
{
ec_sdo_t *sdo, *next_sdo;
unsigned int i;
ec_pdo_t *pdo, *next_pdo;
if (slave->config)
ec_slave_config_detach(slave->config);
// free all Sdos
list_for_each_entry_safe(sdo, next_sdo, &slave->sdo_dictionary, list) {
list_del(&sdo->list);
ec_sdo_clear(sdo);
kfree(sdo);
}
// free all strings
if (slave->sii.strings) {
for (i = 0; i < slave->sii.string_count; i++)
kfree(slave->sii.strings[i]);
kfree(slave->sii.strings);
}
// free all sync managers
ec_slave_clear_sync_managers(slave);
// free all SII Pdos
list_for_each_entry_safe(pdo, next_pdo, &slave->sii.pdos, list) {
list_del(&pdo->list);
ec_pdo_clear(pdo);
kfree(pdo);
}
if (slave->sii_words)
kfree(slave->sii_words);
}
/*****************************************************************************/
/** Clear the sync manager array.
*/
void ec_slave_clear_sync_managers(ec_slave_t *slave /**< EtherCAT slave. */)
{
unsigned int i;
if (slave->sii.syncs) {
for (i = 0; i < slave->sii.sync_count; i++) {
ec_sync_clear(&slave->sii.syncs[i]);
}
kfree(slave->sii.syncs);
slave->sii.syncs = NULL;
}
}
/*****************************************************************************/
/**
* Sets the application state of a slave.
*/
void ec_slave_set_state(ec_slave_t *slave, /**< EtherCAT slave */
ec_slave_state_t new_state /**< new application state */
)
{
if (new_state != slave->current_state) {
if (slave->master->debug_level) {
char old_state[EC_STATE_STRING_SIZE],
cur_state[EC_STATE_STRING_SIZE];
ec_state_string(slave->current_state, old_state);
ec_state_string(new_state, cur_state);
EC_DBG("Slave %u: %s -> %s.\n",
slave->ring_position, old_state, cur_state);
}
slave->current_state = new_state;
}
}
/*****************************************************************************/
/**
* Request a slave state and resets the error flag.
*/
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;
}
/*****************************************************************************/
/**
Fetches data from a STRING category.
\todo range checking
\return 0 in case of success, else < 0
*/
int ec_slave_fetch_sii_strings(
ec_slave_t *slave, /**< EtherCAT slave */
const uint8_t *data, /**< category data */
size_t data_size /**< number of bytes */
)
{
int i;
size_t size;
off_t offset;
slave->sii.string_count = data[0];
if (!slave->sii.string_count)
return 0;
if (!(slave->sii.strings =
kmalloc(sizeof(char *) * slave->sii.string_count,
GFP_KERNEL))) {
EC_ERR("Failed to allocate string array memory.\n");
goto out_zero;
}
offset = 1;
for (i = 0; i < slave->sii.string_count; i++) {
size = data[offset];
// allocate memory for string structure and data at a single blow
if (!(slave->sii.strings[i] =
kmalloc(sizeof(char) * size + 1, GFP_KERNEL))) {
EC_ERR("Failed to allocate string memory.\n");
goto out_free;
}
memcpy(slave->sii.strings[i], data + offset + 1, size);
slave->sii.strings[i][size] = 0x00; // append binary zero
offset += 1 + size;
}
return 0;
out_free:
for (i--; i >= 0; i--) kfree(slave->sii.strings[i]);
kfree(slave->sii.strings);
slave->sii.strings = NULL;
out_zero:
slave->sii.string_count = 0;
return -1;
}
/*****************************************************************************/
/**
Fetches data from a GENERAL category.
\return 0 in case of success, else < 0
*/
int ec_slave_fetch_sii_general(
ec_slave_t *slave, /**< EtherCAT slave */
const uint8_t *data, /**< category data */
size_t data_size /**< size in bytes */
)
{
unsigned int i;
uint8_t flags;
if (data_size != 32) {
EC_ERR("Wrong size of general category (%u/32) in slave %u.\n",
data_size, slave->ring_position);
return -1;
}
slave->sii.group = ec_slave_sii_string(slave, data[0]);
slave->sii.image = ec_slave_sii_string(slave, data[1]);
slave->sii.order = ec_slave_sii_string(slave, data[2]);
slave->sii.name = ec_slave_sii_string(slave, data[3]);
for (i = 0; i < 4; i++)
slave->sii.physical_layer[i] =
(data[4] & (0x03 << (i * 2))) >> (i * 2);
// read CoE details
flags = EC_READ_U8(data + 5);
slave->sii.coe_details.enable_sdo = (flags >> 0) & 0x01;
slave->sii.coe_details.enable_sdo_info = (flags >> 1) & 0x01;
slave->sii.coe_details.enable_pdo_assign = (flags >> 2) & 0x01;
slave->sii.coe_details.enable_pdo_configuration = (flags >> 3) & 0x01;
slave->sii.coe_details.enable_upload_at_startup = (flags >> 4) & 0x01;
slave->sii.coe_details.enable_sdo_complete_access = (flags >> 5) & 0x01;
// read general flags
flags = EC_READ_U8(data + 0x000B);
slave->sii.general_flags.enable_safeop = (flags >> 0) & 0x01;
slave->sii.general_flags.enable_not_lrw = (flags >> 1) & 0x01;
slave->sii.current_on_ebus = EC_READ_S16(data + 0x0C);
slave->sii.has_general = 1;
return 0;
}
/*****************************************************************************/
/** Fetches data from a SYNC MANAGER category.
*
* Appends the sync managers described in the category to the existing ones.
*
* \return 0 in case of success, else < 0
*/
int ec_slave_fetch_sii_syncs(
ec_slave_t *slave, /**< EtherCAT slave. */
const uint8_t *data, /**< Category data. */
size_t data_size /**< Number of bytes. */
)
{
unsigned int i, count, total_count;
ec_sync_t *sync;
size_t memsize;
ec_sync_t *syncs;
uint8_t index;
// one sync manager struct is 4 words long
if (data_size % 8) {
EC_ERR("Invalid SII sync manager category size %u in slave %u.\n",
data_size, slave->ring_position);
return -1;
}
count = data_size / 8;
if (count) {
total_count = count + slave->sii.sync_count;
memsize = sizeof(ec_sync_t) * total_count;
if (!(syncs = kmalloc(memsize, GFP_KERNEL))) {
EC_ERR("Failed to allocate %u bytes for sync managers.\n",
memsize);
return -1;
}
for (i = 0; i < slave->sii.sync_count; i++)
ec_sync_init_copy(syncs + i, slave->sii.syncs + i);
// initialize new sync managers
for (i = 0; i < count; i++, data += 8) {
index = i + slave->sii.sync_count;
sync = &syncs[index];
ec_sync_init(sync, slave, index);
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);
}
if (slave->sii.syncs)
kfree(slave->sii.syncs);
slave->sii.syncs = syncs;
slave->sii.sync_count = total_count;
}
return 0;
}
/*****************************************************************************/
/**
Fetches data from a [RT]XPdo category.
\return 0 in case of success, else < 0
*/
int ec_slave_fetch_sii_pdos(
ec_slave_t *slave, /**< EtherCAT slave */
const uint8_t *data, /**< category data */
size_t data_size, /**< number of bytes */
ec_direction_t dir /**< Pdo direction. */
)
{
ec_pdo_t *pdo;
ec_pdo_entry_t *entry;
unsigned int entry_count, i;
while (data_size >= 8) {
if (!(pdo = kmalloc(sizeof(ec_pdo_t), GFP_KERNEL))) {
EC_ERR("Failed to allocate Pdo memory.\n");
return -1;
}
ec_pdo_init(pdo);
pdo->dir = dir;
pdo->index = EC_READ_U16(data);
entry_count = EC_READ_U8(data + 2);
pdo->sync_index = EC_READ_U8(data + 3);
if (ec_pdo_set_name(pdo,
ec_slave_sii_string(slave, EC_READ_U8(data + 5)))) {
ec_pdo_clear(pdo);
kfree(pdo);
return -1;
}
list_add_tail(&pdo->list, &slave->sii.pdos);
data_size -= 8;
data += 8;
for (i = 0; i < entry_count; i++) {
if (!(entry = kmalloc(sizeof(ec_pdo_entry_t), GFP_KERNEL))) {
EC_ERR("Failed to allocate Pdo entry memory.\n");
return -1;
}
ec_pdo_entry_init(entry);
entry->index = EC_READ_U16(data);
entry->subindex = EC_READ_U8(data + 2);
if (ec_pdo_entry_set_name(entry,
ec_slave_sii_string(slave, EC_READ_U8(data + 3)))) {
ec_pdo_entry_clear(entry);
kfree(entry);
return -1;
}
entry->bit_length = EC_READ_U8(data + 5);
list_add_tail(&entry->list, &pdo->entries);
data_size -= 8;
data += 8;
}
// if sync manager index is positive, the Pdo is mapped by default
if (pdo->sync_index >= 0) {
ec_sync_t *sync;
if (pdo->sync_index >= slave->sii.sync_count) {
EC_ERR("Invalid SM index %i for Pdo 0x%04X in slave %u.",
pdo->sync_index, pdo->index, slave->ring_position);
return -1;
}
sync = &slave->sii.syncs[pdo->sync_index];
if (ec_pdo_list_add_pdo_copy(&sync->pdos, pdo))
return -1;
sync->assign_source = EC_ASSIGN_SII;
}
}
return 0;
}
/*****************************************************************************/
/**
Searches the string list for an index.
\return 0 in case of success, else < 0
*/
char *ec_slave_sii_string(
ec_slave_t *slave, /**< EtherCAT slave */
unsigned int index /**< string index */
)
{
if (!index--)
return NULL;
if (index >= slave->sii.string_count) {
if (slave->master->debug_level)
EC_WARN("String %u not found in slave %u.\n",
index, slave->ring_position);
return NULL;
}
return slave->sii.strings[index];
}
/*****************************************************************************/
/**
* Writes SII contents to a slave.
* \return Zero on success, otherwise error code.
*/
int ec_slave_write_sii(
ec_slave_t *slave, /**< EtherCAT slave */
uint16_t offset, /**< SII word offset. */
unsigned int nwords, /**< Number of words. */
const uint16_t *words /**< New SII data. */
)
{
ec_master_t *master = slave->master;
ec_sii_write_request_t request;
// init SII write request
INIT_LIST_HEAD(&request.list);
request.slave = slave;
request.words = words;
request.offset = offset;
request.nwords = nwords;
request.state = EC_REQUEST_QUEUED;
// schedule SII write request.
down(&master->sii_sem);
list_add_tail(&request.list, &master->sii_requests);
up(&master->sii_sem);
// wait for processing through FSM
if (wait_event_interruptible(master->sii_queue,
request.state != EC_REQUEST_QUEUED)) {
// interrupted by signal
down(&master->sii_sem);
if (request.state == EC_REQUEST_QUEUED) {
list_del(&request.list);
up(&master->sii_sem);
return -EINTR;
}
// request already processing: interrupt not possible.
up(&master->sii_sem);
}
// wait until master FSM has finished processing
wait_event(master->sii_queue,
request.state != EC_REQUEST_BUSY);
if (request.state == EC_REQUEST_SUCCESS) {
if (offset <= 4 && offset + nwords > 4) { // alias was written
slave->sii.alias = EC_READ_U16(words + 4);
}
return 0;
} else {
return -EIO;
}
}
/*****************************************************************************/
/** Get the sync manager for either Rx- or Tx-Pdos.
*
* \todo This seems not to be correct in every case...
* \return pointer to sync manager, or NULL.
*/
ec_sync_t *ec_slave_get_pdo_sync(
ec_slave_t *slave, /**< EtherCAT slave. */
ec_direction_t dir /**< Input or output. */
)
{
unsigned int sync_index;
if (dir != EC_DIR_INPUT && dir != EC_DIR_OUTPUT) {
EC_ERR("Invalid direction!\n");
return NULL;
}
if (slave->sii.sync_count != 1) {
sync_index = (unsigned int) dir;
if (slave->sii.mailbox_protocols) sync_index += 2;
if (sync_index >= slave->sii.sync_count)
return NULL;
} else { // sync_count == 1
// A single sync manager may be used for inputs OR outputs!
if (ec_sync_direction(&slave->sii.syncs[0]) != dir)
return NULL;
sync_index = 0;
}
return &slave->sii.syncs[sync_index];
}
/*****************************************************************************/
/**
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;
}
/*****************************************************************************/
/**
* Get an Sdo from the dictionary.
* \returns The desired Sdo, or NULL.
*/
ec_sdo_t *ec_slave_get_sdo(
ec_slave_t *slave, /**< EtherCAT slave */
uint16_t index /**< Sdo index */
)
{
ec_sdo_t *sdo;
list_for_each_entry(sdo, &slave->sdo_dictionary, list) {
if (sdo->index != index)
continue;
return sdo;
}
return NULL;
}
/*****************************************************************************/
/**
* Get an Sdo from the dictionary.
*
* const version.
*
* \returns The desired Sdo, or NULL.
*/
const ec_sdo_t *ec_slave_get_sdo_const(
const ec_slave_t *slave, /**< EtherCAT slave */
uint16_t index /**< Sdo index */
)
{
const ec_sdo_t *sdo;
list_for_each_entry(sdo, &slave->sdo_dictionary, list) {
if (sdo->index != index)
continue;
return sdo;
}
return NULL;
}
/*****************************************************************************/
/** Get an Sdo from the dictionary, given its position in the list.
* \returns The desired Sdo, or NULL.
*/
const ec_sdo_t *ec_slave_get_sdo_by_pos_const(
const ec_slave_t *slave, /**< EtherCAT slave. */
uint16_t sdo_position /**< Sdo list position. */
)
{
const ec_sdo_t *sdo;
list_for_each_entry(sdo, &slave->sdo_dictionary, list) {
if (sdo_position--)
continue;
return sdo;
}
return NULL;
}
/*****************************************************************************/
/** Get the number of Sdos in the dictionary.
* \returns Sdo count.
*/
uint16_t ec_slave_sdo_count(
const ec_slave_t *slave /**< EtherCAT slave. */
)
{
const ec_sdo_t *sdo;
uint16_t count = 0;
list_for_each_entry(sdo, &slave->sdo_dictionary, list) {
count++;
}
return count;
}
/*****************************************************************************/
/** Finds a mapped Pdo.
* \returns The desired Pdo object, or NULL.
*/
const ec_pdo_t *ec_slave_find_pdo(
const ec_slave_t *slave, /**< Slave. */
uint16_t index /**< Pdo index to find. */
)
{
unsigned int i;
const ec_sync_t *sync;
const ec_pdo_t *pdo;
for (i = 0; i < slave->sii.sync_count; i++) {
sync = &slave->sii.syncs[i];
if (!(pdo = ec_pdo_list_find_pdo_const(&sync->pdos, index)))
continue;
return pdo;
}
return NULL;
}
/*****************************************************************************/