/******************************************************************************
*
* $Id$
*
* 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"
#include "master.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);
EC_SYSFS_READ_ATTR(value);
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,
&attr_value,
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->slave = 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");
kobject_put(&sdo->kobj);
return -1;
}
if (kobject_add(&sdo->kobj)) {
EC_ERR("Failed to add SDO kobject.\n");
kobject_put(&sdo->kobj);
return -1;
}
return 0;
}
/*****************************************************************************/
/**
SDO destructor.
Clears and frees an SDO object.
*/
void ec_sdo_destroy(ec_sdo_t *sdo /**< SDO */)
{
ec_sdo_entry_t *entry, *next;
// free all entries
list_for_each_entry_safe(entry, next, &sdo->entries, list) {
list_del(&entry->list);
ec_sdo_entry_destroy(entry);
}
// destroy self
kobject_del(&sdo->kobj);
kobject_put(&sdo->kobj);
}
/*****************************************************************************/
/**
Clear and free SDO.
This method is called by the kobject,
once there are no more references to it.
*/
void ec_sdo_clear(struct kobject *kobj /**< SDO's kobject */)
{
ec_sdo_t *sdo = container_of(kobj, ec_sdo_t, kobj);
if (sdo->name) kfree(sdo->name);
kfree(sdo);
}
/*****************************************************************************/
/**
* Get and SDO entry from an SDO via its subindex.
* \return pointer to SDO entry, or NULL.
*/
ec_sdo_entry_t *ec_sdo_get_entry(
ec_sdo_t *sdo, /**< SDO */
uint8_t subindex /**< entry subindex */
)
{
ec_sdo_entry_t *entry;
list_for_each_entry(entry, &sdo->entries, list) {
if (entry->subindex != subindex) continue;
return entry;
}
return NULL;
}
/*****************************************************************************/
/**
* Print SDO information to a buffer.
* /return size of bytes written to buffer.
*/
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;
}
/*****************************************************************************/
/**
* Show an SDO as Sysfs attribute.
* /return size of bytes written to buffer.
*/
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->sdo = 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");
kobject_put(&entry->kobj);
return -1;
}
if (kobject_add(&entry->kobj)) {
EC_ERR("Failed to add entry kobject.\n");
kobject_put(&entry->kobj);
return -1;
}
return 0;
}
/*****************************************************************************/
/**
SDO entry destructor.
Clears and frees an SDO entry object.
*/
void ec_sdo_entry_destroy(ec_sdo_entry_t *entry /**< SDO entry */)
{
// destroy self
kobject_del(&entry->kobj);
kobject_put(&entry->kobj);
}
/*****************************************************************************/
/**
Clear and free SDO entry.
This method is called by the kobject,
once there are no more references to it.
*/
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);
}
/*****************************************************************************/
/**
* Print SDO entry information to a buffer.
* \return number of bytes written.
*/
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;
}
/*****************************************************************************/
/**
* Format entry data based on the CANopen data type and print it to a buffer.
* \return number of bytes written.
*/
ssize_t ec_sdo_entry_format_data(ec_sdo_entry_t *entry, /**< SDO entry */
ec_sdo_request_t *request, /**< SDO request */
char *buffer /**< target buffer */
)
{
off_t off = 0;
unsigned int i;
if (entry->data_type == 0x0002) { // int8
int8_t value;
if (entry->bit_length != 8)
goto not_fit;
value = EC_READ_S8(request->data);
off += sprintf(buffer + off, "%i (0x%02X)\n", value, value);
}
else if (entry->data_type == 0x0003) { // int16
int16_t value;
if (entry->bit_length != 16)
goto not_fit;
value = EC_READ_S16(request->data);
off += sprintf(buffer + off, "%i (0x%04X)\n", value, value);
}
else if (entry->data_type == 0x0004) { // int32
int32_t value;
if (entry->bit_length != 32)
goto not_fit;
value = EC_READ_S16(request->data);
off += sprintf(buffer + off, "%i (0x%08X)\n", value, value);
}
else if (entry->data_type == 0x0005) { // uint8
uint8_t value;
if (entry->bit_length != 8)
goto not_fit;
value = EC_READ_U8(request->data);
off += sprintf(buffer + off, "%u (0x%02X)\n", value, value);
}
else if (entry->data_type == 0x0006) { // uint16
uint16_t value;
if (entry->bit_length != 16)
goto not_fit;
value = EC_READ_U16(request->data);
off += sprintf(buffer + off, "%u (0x%04X)\n", value, value);
}
else if (entry->data_type == 0x0007) { // uint32
uint32_t value;
if (entry->bit_length != 32)
goto not_fit;
value = EC_READ_U32(request->data);
off += sprintf(buffer + off, "%i (0x%08X)\n", value, value);
}
else if (entry->data_type == 0x0009) { // string
off += sprintf(buffer + off, "%s\n", request->data);
}
else {
off += sprintf(buffer + off, "Unknown data type %04X. Data:\n",
entry->data_type);
goto raw_data;
}
return off;
not_fit:
off += sprintf(buffer + off,
"Invalid bit length %u for data type 0x%04X. Data:\n",
entry->bit_length, entry->data_type);
raw_data:
for (i = 0; i < request->size; i++)
off += sprintf(buffer + off, "%02X (%c)\n",
request->data[i], request->data[i]);
return off;
}
/*****************************************************************************/
/**
* Start SDO entry reading.
* This function blocks, until reading is finished, and is interruptible as
* long as the master state machine has not begun with reading.
* \return number of bytes written to buffer, or error code.
*/
ssize_t ec_sdo_entry_read_value(ec_sdo_entry_t *entry, /**< SDO entry */
char *buffer /**< target buffer */
)
{
ec_master_t *master = entry->sdo->slave->master;
off_t off = 0;
ec_sdo_request_t request;
ec_sdo_request_init_read(&request, entry);
// schedule request.
down(&master->sdo_sem);
list_add_tail(&request.list, &master->sdo_requests);
up(&master->sdo_sem);
// wait for processing through FSM
if (wait_event_interruptible(master->sdo_queue,
request.state != EC_REQUEST_QUEUED)) {
// interrupted by signal
down(&master->sdo_sem);
if (request.state == EC_REQUEST_QUEUED) {
list_del(&request.list);
up(&master->sdo_sem);
return -EINTR;
}
// request already processing: interrupt not possible.
up(&master->sdo_sem);
}
// wait until master FSM has finished processing
wait_event(master->sdo_queue, request.state != EC_REQUEST_IN_PROGRESS);
if (request.state != EC_REQUEST_COMPLETE)
return -EIO;
off += ec_sdo_entry_format_data(entry, &request, buffer);
ec_sdo_request_clear(&request);
return off;
}
/*****************************************************************************/
/**
* Show an SDO entry as Sysfs attribute.
* /return size of bytes written to buffer.
*/
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);
}
else if (attr == &attr_value) {
return ec_sdo_entry_read_value(entry, buffer);
}
return 0;
}
/*****************************************************************************/
/**
SDO request constructor.
*/
void ec_sdo_request_init_read(ec_sdo_request_t *req, /**< SDO request */
ec_sdo_entry_t *entry /**< SDO entry */
)
{
req->entry = entry;
req->data = NULL;
req->size = 0;
req->state = EC_REQUEST_QUEUED;
}
/*****************************************************************************/
/**
SDO request destructor.
*/
void ec_sdo_request_clear(ec_sdo_request_t *req /**< SDO request */)
{
if (req->data) kfree(req->data);
}
/*****************************************************************************/