/******************************************************************************
*
* $Id$
*
* 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 configuration methods.
*/
/*****************************************************************************/
#include <linux/module.h>
#include "globals.h"
#include "master.h"
#include "slave_config.h"
/*****************************************************************************/
void ec_slave_config_clear(struct kobject *);
ssize_t ec_show_slave_config_attribute(struct kobject *, struct attribute *,
char *);
/*****************************************************************************/
/** \cond */
EC_SYSFS_READ_ATTR(info);
static struct attribute *def_attrs[] = {
&attr_info,
NULL,
};
static struct sysfs_ops sysfs_ops = {
.show = ec_show_slave_config_attribute
};
static struct kobj_type ktype_ec_slave_config = {
.release = ec_slave_config_clear,
.sysfs_ops = &sysfs_ops,
.default_attrs = def_attrs
};
/** \endcond */
/*****************************************************************************/
/** Slave configuration constructor.
*
* See ecrt_master_slave_config() for the usage of the \a alias and \a
* position parameters.
*
* \retval 0 Success.
* \retval <0 Failure.
*/
int ec_slave_config_init(ec_slave_config_t *sc, /**< Slave configuration. */
ec_master_t *master, /**< EtherCAT master. */
uint16_t alias, /**< Slave alias. */
uint16_t position, /**< Slave position. */
uint32_t vendor_id, /**< Expected vendor ID. */
uint32_t product_code /**< Expected product code. */
)
{
ec_direction_t dir;
sc->master = master;
sc->alias = alias;
sc->position = position;
sc->vendor_id = vendor_id;
sc->product_code = product_code;
sc->slave = NULL;
for (dir = EC_DIR_OUTPUT; dir <= EC_DIR_INPUT; dir++)
ec_pdo_list_init(&sc->pdos[dir]);
INIT_LIST_HEAD(&sc->sdo_configs);
INIT_LIST_HEAD(&sc->sdo_requests);
sc->used_fmmus = 0;
// init kobject and add it to the hierarchy
memset(&sc->kobj, 0x00, sizeof(struct kobject));
kobject_init(&sc->kobj);
sc->kobj.ktype = &ktype_ec_slave_config;
sc->kobj.parent = &master->kobj;
if (kobject_set_name(&sc->kobj, "config-%u-%u", sc->alias, sc->position)) {
EC_ERR("Failed to set kobject name for slave config %u:%u.\n",
sc->alias, sc->position);
goto out_put;
}
if (kobject_add(&sc->kobj)) {
EC_ERR("Failed to add kobject for slave config %u:%u.\n",
sc->alias, sc->position);
goto out_put;
}
return 0;
out_put:
kobject_put(&sc->kobj);
return -1;
}
/*****************************************************************************/
/** Slave configuration destructor.
*
* Clears and frees a slave configuration object.
*/
void ec_slave_config_destroy(
ec_slave_config_t *sc /**< Slave configuration. */
)
{
ec_slave_config_detach(sc);
// destroy self
kobject_del(&sc->kobj);
kobject_put(&sc->kobj);
}
/*****************************************************************************/
/** Clear and free the slave configuration.
*
* This method is called by the kobject, once there are no more references to
* it.
*/
void ec_slave_config_clear(struct kobject *kobj /**< kobject of the config. */)
{
ec_slave_config_t *sc;
ec_direction_t dir;
ec_sdo_request_t *req, *next_req;
sc = container_of(kobj, ec_slave_config_t, kobj);
// Free Pdo mappings
for (dir = EC_DIR_OUTPUT; dir <= EC_DIR_INPUT; dir++)
ec_pdo_list_clear(&sc->pdos[dir]);
// free all Sdo configurations
list_for_each_entry_safe(req, next_req, &sc->sdo_configs, list) {
list_del(&req->list);
ec_sdo_request_clear(req);
kfree(req);
}
// free all Sdo requests
list_for_each_entry_safe(req, next_req, &sc->sdo_requests, list) {
list_del(&req->list);
ec_sdo_request_clear(req);
kfree(req);
}
kfree(sc);
}
/*****************************************************************************/
/** Prepares an FMMU configuration.
*
* Configuration data for the FMMU is saved in the slave config structure and
* is written to the slave during the configuration. The FMMU configuration
* is done in a way, that the complete data range of the corresponding sync
* manager is covered. Seperate FMMUs are configured for each domain. If the
* FMMU configuration is already prepared, the function does nothing and
* returns with success.
*
* \retval >=0 Success, logical offset byte address.
* \retval -1 Error, FMMU limit reached.
*/
int ec_slave_config_prepare_fmmu(
ec_slave_config_t *sc, /**< Slave configuration. */
ec_domain_t *domain, /**< Domain. */
ec_direction_t dir /**< Pdo direction. */
)
{
unsigned int i;
ec_fmmu_config_t *fmmu;
// FMMU configuration already prepared?
for (i = 0; i < sc->used_fmmus; i++) {
fmmu = &sc->fmmu_configs[i];
if (fmmu->domain == domain && fmmu->dir == dir)
return fmmu->logical_start_address;
}
if (sc->used_fmmus == EC_MAX_FMMUS) {
EC_ERR("FMMU limit reached for slave configuration %u:%u!\n",
sc->alias, sc->position);
return -1;
}
fmmu = &sc->fmmu_configs[sc->used_fmmus++];
ec_fmmu_config_init(fmmu, sc, domain, dir);
return fmmu->logical_start_address;
}
/*****************************************************************************/
/** Outputs all information about a certain slave configuration.
*/
ssize_t ec_slave_config_info(
const ec_slave_config_t *sc, /**< Slave configuration. */
char *buffer /**< Output buffer */
)
{
char *buf = buffer;
ec_direction_t dir;
const ec_pdo_list_t *pdos;
const ec_pdo_t *pdo;
const ec_pdo_entry_t *entry;
char str[20];
const ec_sdo_request_t *req;
buf += sprintf(buf, "Alias: 0x%04X (%u)\n", sc->alias, sc->alias);
buf += sprintf(buf, "Position: %u\n", sc->position);
for (dir = EC_DIR_OUTPUT; dir <= EC_DIR_INPUT; dir++) {
pdos = &sc->pdos[dir];
if (!list_empty(&pdos->list)) {
buf += sprintf(buf, "%s Pdo assignment / mapping:\n",
dir == EC_DIR_OUTPUT ? "Output" : "Input");
list_for_each_entry(pdo, &pdos->list, list) {
buf += sprintf(buf, " %s 0x%04X \"%s\"\n",
pdo->dir == EC_DIR_OUTPUT ? "RxPdo" : "TxPdo",
pdo->index, pdo->name ? pdo->name : "???");
list_for_each_entry(entry, &pdo->entries, list) {
buf += sprintf(buf, " 0x%04X:%02X \"%s\", %u bit\n",
entry->index, entry->subindex,
entry->name ? entry->name : "???",
entry->bit_length);
}
}
}
}
// type-cast to avoid warnings on some compilers
if (!list_empty((struct list_head *) &sc->sdo_configs)) {
buf += sprintf(buf, "\nSdo configurations:\n");
list_for_each_entry(req, &sc->sdo_configs, list) {
switch (req->data_size) {
case 1: sprintf(str, "%u", EC_READ_U8(req->data)); break;
case 2: sprintf(str, "%u", EC_READ_U16(req->data)); break;
case 4: sprintf(str, "%u", EC_READ_U32(req->data)); break;
default: sprintf(str, "(invalid size)"); break;
}
buf += sprintf(buf, " 0x%04X:%02X -> %s\n",
req->index, req->subindex, str);
}
buf += sprintf(buf, "\n");
}
// type-cast to avoid warnings on some compilers
if (!list_empty((struct list_head *) &sc->sdo_requests)) {
buf += sprintf(buf, "\nSdo requests:\n");
list_for_each_entry(req, &sc->sdo_requests, list) {
buf += sprintf(buf, " 0x%04X:%02X\n", req->index, req->subindex);
}
buf += sprintf(buf, "\n");
}
return buf - buffer;
}
/*****************************************************************************/
/** Formats attribute data for SysFS read access.
*
* \return number of bytes to read
*/
ssize_t ec_show_slave_config_attribute(
struct kobject *kobj, /**< Slave configuration's kobject */
struct attribute *attr, /**< Requested attribute. */
char *buffer /**< Memory to store data. */
)
{
ec_slave_config_t *sc = container_of(kobj, ec_slave_config_t, kobj);
if (attr == &attr_info) {
return ec_slave_config_info(sc, buffer);
}
return 0;
}
/*****************************************************************************/
/** Attaches the configuration to the addressed slave object.
*
* \retval 0 Success.
* \retval -1 Slave not found.
* \retval -2 Slave already configured.
* \retval -3 Invalid slave type found at the given position.
*/
int ec_slave_config_attach(
ec_slave_config_t *sc /**< Slave configuration. */
)
{
ec_slave_t *slave;
if (sc->slave)
return 0; // already attached
if (!(slave = ec_master_find_slave(
sc->master, sc->alias, sc->position))) {
EC_WARN("Failed to find slave for configuration %u:%u.\n",
sc->alias, sc->position);
return -1;
}
if (slave->config) {
EC_ERR("Failed to attach slave configuration %u:%u. Slave %u"
" already has a configuration!\n", sc->alias,
sc->position, slave->ring_position);
return -2;
}
if (slave->sii.vendor_id != sc->vendor_id
|| slave->sii.product_code != sc->product_code) {
EC_ERR("Slave %u has an invalid type (0x%08X/0x%08X) for"
" configuration %u:%u (0x%08X/0x%08X).\n",
slave->ring_position, slave->sii.vendor_id,
slave->sii.product_code, sc->alias, sc->position,
sc->vendor_id, sc->product_code);
return -3;
}
// attach slave
slave->config = sc;
sc->slave = slave;
if (sc->master->debug_level)
EC_DBG("Attached slave %u to config %u:%u.\n",
slave->ring_position, sc->alias, sc->position);
ec_slave_request_state(slave, EC_SLAVE_STATE_OP);
return 0;
}
/*****************************************************************************/
/** Detaches the configuration from a slave object.
*/
void ec_slave_config_detach(
ec_slave_config_t *sc /**< Slave configuration. */
)
{
if (sc->slave) {
sc->slave->config = NULL;
sc->slave = NULL;
}
}
/*****************************************************************************/
/** Loads the default Pdo assignment from the slave object.
*/
void ec_slave_config_load_default_assignment(ec_slave_config_t *sc)
{
ec_direction_t dir;
ec_pdo_list_t *pdos;
ec_sync_t *sync;
if (!sc->slave)
return;
for (dir = EC_DIR_OUTPUT; dir <= EC_DIR_INPUT; dir++) {
pdos = &sc->pdos[dir];
if ((sync = ec_slave_get_pdo_sync(sc->slave, dir)))
ec_pdo_list_copy(pdos, &sync->pdos);
}
}
/*****************************************************************************/
/** Loads the default mapping for a Pdo from the slave object.
*/
void ec_slave_config_load_default_mapping(
const ec_slave_config_t *sc,
ec_pdo_t *pdo
)
{
const ec_sync_t *sync;
const ec_pdo_t *default_pdo;
if (sc->master->debug_level)
EC_DBG("Loading default configuration for Pdo 0x%04X in"
" config %u:%u.\n", pdo->index, sc->alias, sc->position);
pdo->default_config = 1;
if (!sc->slave) {
EC_WARN("Failed to load default Pdo configuration for %u:%u:"
" Slave not found.\n", sc->alias, sc->position);
return;
}
if (!(sync = ec_slave_get_pdo_sync(sc->slave, pdo->dir))) {
EC_WARN("Slave %u does not provide a default Pdo"
" configuration!\n", sc->slave->ring_position);
return;
}
list_for_each_entry(default_pdo, &sync->pdos.list, list) {
if (default_pdo->index != pdo->index)
continue;
if (sc->master->debug_level)
EC_DBG(" Found Pdo name \"%s\".\n",
default_pdo->name);
// try to take Pdo name from mapped one
ec_pdo_set_name(pdo, default_pdo->name);
// copy entries (= default Pdo configuration)
if (ec_pdo_copy_entries(pdo, default_pdo))
return;
if (sc->master->debug_level) {
const ec_pdo_entry_t *entry;
list_for_each_entry(entry, &pdo->entries, list) {
EC_DBG(" Entry 0x%04X:%02X.\n",
entry->index, entry->subindex);
}
}
}
}
/******************************************************************************
* Realtime interface
*****************************************************************************/
int ecrt_slave_config_pdo_assign_add(ec_slave_config_t *sc,
ec_direction_t dir, uint16_t index)
{
ec_pdo_list_t *pl = &sc->pdos[dir];
ec_pdo_t *pdo;
if (sc->master->debug_level)
EC_DBG("Adding Pdo 0x%04X to assignment for dir %u, config %u:%u.\n",
index, dir, sc->alias, sc->position);
if (!(pdo = ec_pdo_list_add_pdo(pl, dir, index)))
return -1;
ec_slave_config_load_default_mapping(sc, pdo);
return 0;
}
/*****************************************************************************/
void ecrt_slave_config_pdo_assign_clear(ec_slave_config_t *sc,
ec_direction_t dir)
{
if (sc->master->debug_level)
EC_DBG("Clearing Pdo assignment for dir %u, config %u:%u.\n",
dir, sc->alias, sc->position);
ec_pdo_list_clear_pdos(&sc->pdos[dir]);
}
/*****************************************************************************/
int ecrt_slave_config_pdo_mapping_add(ec_slave_config_t *sc,
uint16_t pdo_index, uint16_t entry_index, uint8_t entry_subindex,
uint8_t entry_bit_length)
{
ec_direction_t dir;
ec_pdo_t *pdo;
if (sc->master->debug_level)
EC_DBG("Adding Pdo entry 0x%04X:%02X (%u bit) to mapping of Pdo"
" 0x%04X, config %u:%u.\n", entry_index, entry_subindex,
entry_bit_length, pdo_index, sc->alias, sc->position);
for (dir = EC_DIR_OUTPUT; dir <= EC_DIR_INPUT; dir++)
if ((pdo = ec_pdo_list_find_pdo(&sc->pdos[dir], pdo_index)))
break;
if (!pdo) {
EC_ERR("Pdo 0x%04X is not assigned in config %u:%u.\n",
pdo_index, sc->alias, sc->position);
return -1;
}
return ec_pdo_add_entry(pdo, entry_index, entry_subindex,
entry_bit_length) ? 0 : -1;
}
/*****************************************************************************/
void ecrt_slave_config_pdo_mapping_clear(ec_slave_config_t *sc,
uint16_t pdo_index)
{
ec_direction_t dir;
ec_pdo_t *pdo;
if (sc->master->debug_level)
EC_DBG("Clearing mapping of Pdo 0x%04X, config %u:%u.\n",
pdo_index, sc->alias, sc->position);
for (dir = EC_DIR_OUTPUT; dir <= EC_DIR_INPUT; dir++)
if ((pdo = ec_pdo_list_find_pdo(&sc->pdos[dir], pdo_index)))
break;
if (!pdo) {
EC_WARN("Pdo 0x%04X is not assigned in config %u:%u.\n",
pdo_index, sc->alias, sc->position);
return;
}
ec_pdo_clear_entries(pdo);
}
/*****************************************************************************/
int ecrt_slave_config_pdos(ec_slave_config_t *sc, unsigned int n_infos,
const ec_pdo_info_t pdo_infos[])
{
unsigned int i, j;
const ec_pdo_info_t *pi;
ec_pdo_list_t *pl;
unsigned int cleared[] = {0, 0};
const ec_pdo_entry_info_t *ei;
for (i = 0; i < n_infos; i++) {
pi = &pdo_infos[i];
if (pi->dir == EC_END)
break;
pl = &sc->pdos[pi->dir];
if (!cleared[pi->dir]) {
ecrt_slave_config_pdo_assign_clear(sc, pi->dir);
cleared[pi->dir] = 1;
}
if (ecrt_slave_config_pdo_assign_add(sc, pi->dir, pi->index))
return -1;
if (pi->n_entries && pi->entries) { // mapping provided
if (sc->master->debug_level)
EC_DBG(" Pdo mapping information provided.\n");
ecrt_slave_config_pdo_mapping_clear(sc, pi->index);
for (j = 0; j < pi->n_entries; j++) {
ei = &pi->entries[j];
if (ecrt_slave_config_pdo_mapping_add(sc, pi->index,
ei->index, ei->subindex, ei->bit_length))
return -1;
}
}
}
return 0;
}
/*****************************************************************************/
int ecrt_slave_config_reg_pdo_entry(
ec_slave_config_t *sc,
uint16_t index,
uint8_t subindex,
ec_domain_t *domain,
unsigned int *bit_position
)
{
ec_direction_t dir;
ec_pdo_list_t *pdos;
unsigned int bit_offset, bit_pos;
ec_pdo_t *pdo;
ec_pdo_entry_t *entry;
int sync_offset;
if (sc->master->debug_level)
EC_DBG("ecrt_slave_config_reg_pdo_entry(sc = 0x%x, index = 0x%04X, "
"subindex = 0x%02X, domain = 0x%x, bit_position = 0x%x)\n",
(unsigned int) sc, index, subindex, (unsigned int) domain,
(unsigned int) bit_position);
for (dir = EC_DIR_OUTPUT; dir <= EC_DIR_INPUT; dir++) {
pdos = &sc->pdos[dir];
bit_offset = 0;
list_for_each_entry(pdo, &pdos->list, list) {
list_for_each_entry(entry, &pdo->entries, list) {
if (entry->index != index || entry->subindex != subindex) {
bit_offset += entry->bit_length;
} else {
goto found;
}
}
}
}
EC_ERR("Pdo entry 0x%04X:%02X is not mapped in slave config %u:%u.\n",
index, subindex, sc->alias, sc->position);
return -1;
found:
sync_offset = ec_slave_config_prepare_fmmu(sc, domain, dir);
if (sync_offset < 0)
return -2;
bit_pos = bit_offset % 8;
if (bit_position) {
*bit_position = bit_pos;
} else if (bit_pos) {
EC_ERR("Pdo entry 0x%04X:%02X does not byte-align in config %u:%u.\n",
index, subindex, sc->alias, sc->position);
return -3;
}
return sync_offset + bit_offset / 8;
}
/*****************************************************************************/
int ecrt_slave_config_sdo(ec_slave_config_t *sc, uint16_t index,
uint8_t subindex, const uint8_t *data, size_t size)
{
ec_slave_t *slave = sc->slave;
ec_sdo_request_t *req;
if (slave && !(slave->sii.mailbox_protocols & EC_MBOX_COE)) {
EC_ERR("Slave %u does not support CoE!\n", slave->ring_position);
return -1;
}
if (!(req = (ec_sdo_request_t *)
kmalloc(sizeof(ec_sdo_request_t), GFP_KERNEL))) {
EC_ERR("Failed to allocate memory for Sdo configuration!\n");
return -1;
}
ec_sdo_request_init(req);
ec_sdo_request_address(req, index, subindex);
if (ec_sdo_request_copy_data(req, data, size)) {
ec_sdo_request_clear(req);
kfree(req);
return -1;
}
list_add_tail(&req->list, &sc->sdo_configs);
return 0;
}
/*****************************************************************************/
int ecrt_slave_config_sdo8(ec_slave_config_t *sc, uint16_t index,
uint8_t subindex, uint8_t value)
{
uint8_t data[1];
EC_WRITE_U8(data, value);
return ecrt_slave_config_sdo(sc, index, subindex, data, 1);
}
/*****************************************************************************/
int ecrt_slave_config_sdo16(ec_slave_config_t *sc, uint16_t index,
uint8_t subindex, uint16_t value)
{
uint8_t data[2];
EC_WRITE_U16(data, value);
return ecrt_slave_config_sdo(sc, index, subindex, data, 2);
}
/*****************************************************************************/
int ecrt_slave_config_sdo32(ec_slave_config_t *sc, uint16_t index,
uint8_t subindex, uint32_t value)
{
uint8_t data[4];
EC_WRITE_U32(data, value);
return ecrt_slave_config_sdo(sc, index, subindex, data, 4);
}
/*****************************************************************************/
ec_sdo_request_t *ecrt_slave_config_create_sdo_request(ec_slave_config_t *sc,
uint16_t index, uint8_t subindex, size_t size)
{
ec_sdo_request_t *req;
if (!(req = (ec_sdo_request_t *)
kmalloc(sizeof(ec_sdo_request_t), GFP_KERNEL))) {
EC_ERR("Failed to allocate Sdo request memory!\n");
return NULL;
}
ec_sdo_request_init(req);
ec_sdo_request_address(req, index, subindex);
if (ec_sdo_request_alloc(req, size)) {
ec_sdo_request_clear(req);
kfree(req);
return NULL;
}
// prepare data for optional writing
memset(req->data, 0x00, size);
req->data_size = size;
list_add_tail(&req->list, &sc->sdo_requests);
return req;
}
/*****************************************************************************/
/** \cond */
EXPORT_SYMBOL(ecrt_slave_config_pdo_assign_add);
EXPORT_SYMBOL(ecrt_slave_config_pdo_assign_clear);
EXPORT_SYMBOL(ecrt_slave_config_pdo_mapping_add);
EXPORT_SYMBOL(ecrt_slave_config_pdo_mapping_clear);
EXPORT_SYMBOL(ecrt_slave_config_pdos);
EXPORT_SYMBOL(ecrt_slave_config_reg_pdo_entry);
EXPORT_SYMBOL(ecrt_slave_config_sdo);
EXPORT_SYMBOL(ecrt_slave_config_sdo8);
EXPORT_SYMBOL(ecrt_slave_config_sdo16);
EXPORT_SYMBOL(ecrt_slave_config_sdo32);
EXPORT_SYMBOL(ecrt_slave_config_create_sdo_request);
/** \endcond */
/*****************************************************************************/