/******************************************************************************
*
* $Id$
*
* 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/slab.h>
#include "globals.h"
#include "master.h"
#include "slave_config.h"
/*****************************************************************************/
/** Slave configuration constructor.
*
* See ecrt_master_slave_config() for the usage of the \a alias and \a
* position parameters.
*/
void 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. */
)
{
unsigned int i;
sc->master = master;
sc->alias = alias;
sc->position = position;
sc->vendor_id = vendor_id;
sc->product_code = product_code;
sc->slave = NULL;
for (i = 0; i < EC_MAX_SYNC_MANAGERS; i++)
ec_sync_config_init(&sc->sync_configs[i]);
INIT_LIST_HEAD(&sc->sdo_configs);
INIT_LIST_HEAD(&sc->sdo_requests);
sc->used_fmmus = 0;
}
/*****************************************************************************/
/** Slave configuration destructor.
*
* Clears and frees a slave configuration object.
*/
void ec_slave_config_clear(
ec_slave_config_t *sc /**< Slave configuration. */
)
{
unsigned int i;
ec_sdo_request_t *req, *next_req;
ec_slave_config_detach(sc);
// Free sync managers
for (i = 0; i < EC_MAX_SYNC_MANAGERS; i++)
ec_sync_config_clear(&sc->sync_configs[i]);
// 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);
}
}
/*****************************************************************************/
/** 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. */
uint8_t sync_index, /**< Sync manager index. */
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->sync_index == sync_index)
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++];
down(&sc->master->master_sem);
ec_fmmu_config_init(fmmu, sc, domain, sync_index, dir);
up(&sc->master->master_sem);
return fmmu->logical_start_address;
}
/*****************************************************************************/
/** 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))) {
if (sc->master->debug_level)
EC_DBG("Failed to find slave for configuration %u:%u.\n",
sc->alias, sc->position);
return -1;
}
if (slave->config) {
if (sc->master->debug_level)
EC_DBG("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) {
if (sc->master->debug_level)
EC_DBG("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;
// force reconfiguration, because the master could have had no possibility
// for a reconfiguration, between two operation phases.
slave->force_config = 1;
ec_slave_request_state(slave, EC_SLAVE_STATE_OP);
if (sc->master->debug_level)
EC_DBG("Attached slave %u to config %u:%u.\n",
slave->ring_position, sc->alias, sc->position);
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_sync_config(ec_slave_config_t *sc)
{
uint8_t sync_index;
ec_sync_config_t *sync_config;
const ec_sync_t *sync;
if (!sc->slave)
return;
for (sync_index = 0; sync_index < EC_MAX_SYNC_MANAGERS; sync_index++) {
sync_config = &sc->sync_configs[sync_index];
if ((sync = ec_slave_get_sync(sc->slave, sync_index))) {
sync_config->dir = ec_sync_default_direction(sync);
if (sync_config->dir == EC_DIR_INVALID)
EC_WARN("SM%u of slave %u has an invalid direction field!\n",
sync_index, sc->slave->ring_position);
ec_pdo_list_copy(&sync_config->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
)
{
unsigned int i;
const ec_sync_t *sync;
const ec_pdo_t *default_pdo;
if (!sc->slave)
return;
if (sc->master->debug_level)
EC_DBG("Loading default mapping for Pdo 0x%04X in config %u:%u.\n",
pdo->index, sc->alias, sc->position);
// find Pdo in any sync manager (it could be reassigned later)
for (i = 0; i < sc->slave->sii.sync_count; i++) {
sync = &sc->slave->sii.syncs[i];
list_for_each_entry(default_pdo, &sync->pdos.list, list) {
if (default_pdo->index != pdo->index)
continue;
if (default_pdo->name) {
if (sc->master->debug_level)
EC_DBG("Found Pdo name \"%s\".\n", default_pdo->name);
// take Pdo name from assigned one
ec_pdo_set_name(pdo, default_pdo->name);
}
// copy entries (= default Pdo mapping)
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);
}
}
return;
}
}
if (sc->master->debug_level)
EC_DBG("No default mapping found.\n");
}
/*****************************************************************************/
/** Get the number of Sdo configurations.
*
* \return Number of Sdo configurations.
*/
unsigned int ec_slave_config_sdo_count(
const ec_slave_config_t *sc /**< Slave configuration. */
)
{
const ec_sdo_request_t *req;
unsigned int count = 0;
list_for_each_entry(req, &sc->sdo_configs, list) {
count++;
}
return count;
}
/*****************************************************************************/
/** Finds an Sdo configuration via its position in the list.
*
* Const version.
*/
const ec_sdo_request_t *ec_slave_config_get_sdo_by_pos_const(
const ec_slave_config_t *sc, /**< Slave configuration. */
unsigned int pos /**< Position in the list. */
)
{
const ec_sdo_request_t *req;
list_for_each_entry(req, &sc->sdo_configs, list) {
if (pos--)
continue;
return req;
}
return NULL;
}
/******************************************************************************
* Realtime interface
*****************************************************************************/
int ecrt_slave_config_sync_manager(ec_slave_config_t *sc, uint8_t sync_index,
ec_direction_t dir)
{
ec_sync_config_t *sync_config;
if (sc->master->debug_level)
EC_DBG("ecrt_slave_config_sync_manager(sc = 0x%x, sync_index = %u, "
"dir = %u)\n", (u32) sc, sync_index, dir);
if (sync_index >= EC_MAX_SYNC_MANAGERS) {
EC_ERR("Invalid sync manager index %u!\n", sync_index);
return -1;
}
if (dir != EC_DIR_OUTPUT && dir != EC_DIR_INPUT) {
EC_ERR("Invalid direction %u!\n", (u32) dir);
return -1;
}
sync_config = &sc->sync_configs[sync_index];
sync_config->dir = dir;
return 0;
}
/*****************************************************************************/
int ecrt_slave_config_pdo_assign_add(ec_slave_config_t *sc,
uint8_t sync_index, uint16_t pdo_index)
{
ec_pdo_t *pdo;
if (sc->master->debug_level)
EC_DBG("ecrt_slave_config_pdo_assign_add(sc = 0x%x, sync_index = %u, "
"pdo_index = 0x%04X)\n", (u32) sc, sync_index, pdo_index);
if (sync_index >= EC_MAX_SYNC_MANAGERS) {
EC_ERR("Invalid sync manager index %u!\n", sync_index);
return -1;
}
down(&sc->master->master_sem);
if (!(pdo = ec_pdo_list_add_pdo(&sc->sync_configs[sync_index].pdos,
pdo_index))) {
up(&sc->master->master_sem);
return -1;
}
pdo->sync_index = sync_index;
ec_slave_config_load_default_mapping(sc, pdo);
up(&sc->master->master_sem);
return 0;
}
/*****************************************************************************/
void ecrt_slave_config_pdo_assign_clear(ec_slave_config_t *sc,
uint8_t sync_index)
{
if (sc->master->debug_level)
EC_DBG("ecrt_slave_config_pdo_assign_clear(sc = 0x%x, "
"sync_index = %u)\n", (u32) sc, sync_index);
if (sync_index >= EC_MAX_SYNC_MANAGERS) {
EC_ERR("Invalid sync manager index %u!\n", sync_index);
return;
}
down(&sc->master->master_sem);
ec_pdo_list_clear_pdos(&sc->sync_configs[sync_index].pdos);
up(&sc->master->master_sem);
}
/*****************************************************************************/
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)
{
uint8_t sync_index;
ec_pdo_t *pdo = NULL;
int retval = -1;
if (sc->master->debug_level)
EC_DBG("ecrt_slave_config_pdo_mapping_add(sc = 0x%x, "
"pdo_index = 0x%04X, entry_index = 0x%04X, "
"entry_subindex = 0x%02X, entry_bit_length = %u)\n",
(u32) sc, pdo_index, entry_index, entry_subindex,
entry_bit_length);
for (sync_index = 0; sync_index < EC_MAX_SYNC_MANAGERS; sync_index++)
if ((pdo = ec_pdo_list_find_pdo(
&sc->sync_configs[sync_index].pdos, pdo_index)))
break;
if (pdo) {
down(&sc->master->master_sem);
retval = ec_pdo_add_entry(pdo, entry_index, entry_subindex,
entry_bit_length) ? 0 : -1;
up(&sc->master->master_sem);
} else {
EC_ERR("Pdo 0x%04X is not assigned in config %u:%u.\n",
pdo_index, sc->alias, sc->position);
}
return retval;
}
/*****************************************************************************/
void ecrt_slave_config_pdo_mapping_clear(ec_slave_config_t *sc,
uint16_t pdo_index)
{
uint8_t sync_index;
ec_pdo_t *pdo = NULL;
if (sc->master->debug_level)
EC_DBG("ecrt_slave_config_pdo_mapping_clear(sc = 0x%x, "
"pdo_index = 0x%04X)\n", (u32) sc, pdo_index);
for (sync_index = 0; sync_index < EC_MAX_SYNC_MANAGERS; sync_index++)
if ((pdo = ec_pdo_list_find_pdo(
&sc->sync_configs[sync_index].pdos, pdo_index)))
break;
if (pdo) {
down(&sc->master->master_sem);
ec_pdo_clear_entries(pdo);
up(&sc->master->master_sem);
} else {
EC_WARN("Pdo 0x%04X is not assigned in config %u:%u.\n",
pdo_index, sc->alias, sc->position);
}
}
/*****************************************************************************/
int ecrt_slave_config_pdos(ec_slave_config_t *sc,
unsigned int n_syncs, const ec_sync_info_t syncs[])
{
unsigned int i, j, k;
const ec_sync_info_t *sync_info;
const ec_pdo_info_t *pdo_info;
const ec_pdo_entry_info_t *entry_info;
if (sc->master->debug_level)
EC_DBG("ecrt_slave_config_pdos(sc = 0x%x, n_syncs = %u, "
"syncs = 0x%x)\n", (u32) sc, n_syncs, (u32) syncs);
if (!syncs)
return 0;
for (i = 0; i < n_syncs; i++) {
sync_info = &syncs[i];
if (sync_info->index == (uint8_t) EC_END)
break;
if (sync_info->index >= EC_MAX_SYNC_MANAGERS) {
EC_ERR("Invalid sync manager index %u!\n", sync_info->index);
return -1;
}
if (ecrt_slave_config_sync_manager(
sc, sync_info->index, sync_info->dir))
return -1;
if (sync_info->n_pdos && sync_info->pdos) {
ecrt_slave_config_pdo_assign_clear(sc, sync_info->index);
for (j = 0; j < sync_info->n_pdos; j++) {
pdo_info = &sync_info->pdos[j];
if (ecrt_slave_config_pdo_assign_add(
sc, sync_info->index, pdo_info->index))
return -1;
if (pdo_info->n_entries && pdo_info->entries) {
ecrt_slave_config_pdo_mapping_clear(sc, pdo_info->index);
for (k = 0; k < pdo_info->n_entries; k++) {
entry_info = &pdo_info->entries[k];
if (ecrt_slave_config_pdo_mapping_add(sc,
pdo_info->index, entry_info->index,
entry_info->subindex,
entry_info->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
)
{
uint8_t sync_index;
const ec_sync_config_t *sync_config;
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",
(u32) sc, index, subindex, (u32) domain, (u32) bit_position);
for (sync_index = 0; sync_index < EC_MAX_SYNC_MANAGERS; sync_index++) {
sync_config = &sc->sync_configs[sync_index];
bit_offset = 0;
list_for_each_entry(pdo, &sync_config->pdos.list, list) {
list_for_each_entry(entry, &pdo->entries, list) {
if (entry->index != index || entry->subindex != subindex) {
bit_offset += entry->bit_length;
} else {
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;
}
sync_offset = ec_slave_config_prepare_fmmu(
sc, domain, sync_index, sync_config->dir);
if (sync_offset < 0)
return -2;
return sync_offset + bit_offset / 8;
}
}
}
}
EC_ERR("Pdo entry 0x%04X:%02X is not mapped in slave config %u:%u.\n",
index, subindex, sc->alias, sc->position);
return -1;
}
/*****************************************************************************/
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 (sc->master->debug_level)
EC_DBG("ecrt_slave_config_sdo(sc = 0x%x, index = 0x%04X, "
"subindex = 0x%02X, data = 0x%x, size = %u)\n", (u32) sc,
index, subindex, (u32) data, size);
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;
}
down(&sc->master->master_sem);
list_add_tail(&req->list, &sc->sdo_configs);
up(&sc->master->master_sem);
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];
if (sc->master->debug_level)
EC_DBG("ecrt_slave_config_sdo8(sc = 0x%x, index = 0x%04X, "
"subindex = 0x%02X, value = %u)\n", (u32) sc,
index, subindex, (u32) value);
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];
if (sc->master->debug_level)
EC_DBG("ecrt_slave_config_sdo16(sc = 0x%x, index = 0x%04X, "
"subindex = 0x%02X, value = %u)\n", (u32) sc,
index, subindex, value);
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];
if (sc->master->debug_level)
EC_DBG("ecrt_slave_config_sdo32(sc = 0x%x, index = 0x%04X, "
"subindex = 0x%02X, value = %u)\n", (u32) sc,
index, subindex, value);
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;
down(&sc->master->master_sem);
list_add_tail(&req->list, &sc->sdo_requests);
up(&sc->master->master_sem);
return req;
}
/*****************************************************************************/
void ecrt_slave_config_state(const ec_slave_config_t *sc,
ec_slave_config_state_t *state)
{
state->online = sc->slave ? 1 : 0;
if (state->online) {
state->operational =
sc->slave->current_state == EC_SLAVE_STATE_OP;
state->al_state = sc->slave->current_state;
} else {
state->operational = 0;
state->al_state = EC_SLAVE_STATE_UNKNOWN;
}
}
/*****************************************************************************/
/** \cond */
EXPORT_SYMBOL(ecrt_slave_config_sync_manager);
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);
EXPORT_SYMBOL(ecrt_slave_config_state);
/** \endcond */
/*****************************************************************************/