fp@409: /******************************************************************************
fp@409:  *
fp@409:  *  $Id$
fp@409:  *
fp@409:  *  Copyright (C) 2006  Florian Pose, Ingenieurgemeinschaft IgH
fp@409:  *
fp@409:  *  This file is part of the IgH EtherCAT Master.
fp@409:  *
fp@409:  *  The IgH EtherCAT Master is free software; you can redistribute it
fp@409:  *  and/or modify it under the terms of the GNU General Public License
fp@409:  *  as published by the Free Software Foundation; either version 2 of the
fp@409:  *  License, or (at your option) any later version.
fp@409:  *
fp@409:  *  The IgH EtherCAT Master is distributed in the hope that it will be
fp@409:  *  useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
fp@409:  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
fp@409:  *  GNU General Public License for more details.
fp@409:  *
fp@409:  *  You should have received a copy of the GNU General Public License
fp@409:  *  along with the IgH EtherCAT Master; if not, write to the Free Software
fp@409:  *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
fp@409:  *
fp@409:  *  The right to use EtherCAT Technology is granted and comes free of
fp@409:  *  charge under condition of compatibility of product made by
fp@409:  *  Licensee. People intending to distribute/sell products based on the
fp@409:  *  code, have to sign an agreement to guarantee that products using
fp@409:  *  software based on IgH EtherCAT master stay compatible with the actual
fp@409:  *  EtherCAT specification (which are released themselves as an open
fp@409:  *  standard) as the (only) precondition to have the right to use EtherCAT
fp@409:  *  Technology, IP and trade marks.
fp@409:  *
fp@409:  *****************************************************************************/
fp@409: 
fp@409: /**
fp@409:    \file
fp@847:    CANopen-over-EtherCAT Sdo entry functions.
fp@409: */
fp@409: 
fp@409: /*****************************************************************************/
fp@409: 
fp@409: #include <linux/module.h>
fp@409: 
fp@847: #include "sdo.h"
fp@847: #include "sdo_request.h"
fp@430: #include "master.h"
fp@409: 
fp@847: #include "sdo_entry.h"
fp@847: 
fp@847: /*****************************************************************************/
fp@847: 
fp@409: ssize_t ec_show_sdo_entry_attribute(struct kobject *, struct attribute *,
fp@409:                                     char *);
fp@409: void ec_sdo_entry_clear(struct kobject *);
fp@409: 
fp@409: /*****************************************************************************/
fp@409: 
fp@409: /** \cond */
fp@409: 
fp@409: EC_SYSFS_READ_ATTR(info);
fp@430: EC_SYSFS_READ_ATTR(value);
fp@409: 
fp@409: static struct attribute *sdo_entry_def_attrs[] = {
fp@409:     &attr_info,
fp@430:     &attr_value,
fp@409:     NULL,
fp@409: };
fp@409: 
fp@409: static struct sysfs_ops sdo_entry_sysfs_ops = {
fp@409:     .show = &ec_show_sdo_entry_attribute,
fp@409:     .store = NULL
fp@409: };
fp@409: 
fp@409: static struct kobj_type ktype_ec_sdo_entry = {
fp@409:     .release = ec_sdo_entry_clear,
fp@409:     .sysfs_ops = &sdo_entry_sysfs_ops,
fp@409:     .default_attrs = sdo_entry_def_attrs
fp@409: };
fp@409: 
fp@409: /** \endcond */
fp@409: 
fp@409: /*****************************************************************************/
fp@409: 
fp@847: /** Sdo entry constructor.
fp@847:  *
fp@847:  * \todo Turn parameters.
fp@847:  */
fp@847: int ec_sdo_entry_init(
fp@847:         ec_sdo_entry_t *entry, /**< Sdo entry. */
fp@847:         uint8_t subindex, /**< Subindex. */
fp@847:         ec_sdo_t *sdo /**< Parent Sdo. */
fp@847:         )
fp@409: {
fp@430:     entry->sdo = sdo;
fp@409:     entry->subindex = subindex;
fp@409:     entry->data_type = 0x0000;
fp@409:     entry->bit_length = 0;
fp@409:     entry->description = NULL;
fp@409: 
fp@847:     // Init kobject and add it to the hierarchy
fp@409:     memset(&entry->kobj, 0x00, sizeof(struct kobject));
fp@409:     kobject_init(&entry->kobj);
fp@409:     entry->kobj.ktype = &ktype_ec_sdo_entry;
fp@409:     entry->kobj.parent = &sdo->kobj;
fp@419:     if (kobject_set_name(&entry->kobj, "%i", entry->subindex)) {
fp@409:         EC_ERR("Failed to set kobj name.\n");
fp@484:         kobject_put(&entry->kobj);
fp@484:         return -1;
fp@484:     }
fp@484:     if (kobject_add(&entry->kobj)) {
fp@484:         EC_ERR("Failed to add entry kobject.\n");
fp@484:         kobject_put(&entry->kobj);
fp@409:         return -1;
fp@409:     }
fp@409: 
fp@409:     return 0;
fp@409: }
fp@409: 
fp@409: /*****************************************************************************/
fp@409: 
fp@847: /** Sdo entry destructor.
fp@847:  *
fp@847:  * Clears and frees an Sdo entry object.
fp@847:  */
fp@847: void ec_sdo_entry_destroy(
fp@847:         ec_sdo_entry_t *entry /**< Sdo entry. */
fp@847:         )
fp@448: {
fp@448:     // destroy self
fp@448:     kobject_del(&entry->kobj);
fp@448:     kobject_put(&entry->kobj);
fp@448: }
fp@448: 
fp@448: /*****************************************************************************/
fp@448: 
fp@847: /** Clear and free the Sdo entry.
fp@847:  *
fp@847:  * This method is called by the kobject,
fp@847:  * once there are no more references to it.
fp@847:  */
fp@847: void ec_sdo_entry_clear(
fp@847:         struct kobject *kobj /**< Sdo entry's kobject. */
fp@847:         )
fp@409: {
fp@409:     ec_sdo_entry_t *entry = container_of(kobj, ec_sdo_entry_t, kobj);
fp@409: 
fp@409:     if (entry->description) kfree(entry->description);
fp@409: 
fp@409:     kfree(entry);
fp@409: }
fp@409: 
fp@409: /*****************************************************************************/
fp@758:  
fp@847: /** Print Sdo entry information to a buffer.
fp@847:  * 
fp@847:  * \return Number of bytes written.
fp@847:  */
fp@847: ssize_t ec_sdo_entry_info(
fp@847:         ec_sdo_entry_t *entry, /**< Sdo entry. */
fp@847:         char *buffer /**< Target buffer. */
fp@847:         )
fp@409: {
fp@409:     off_t off = 0;
fp@409: 
fp@409:     off += sprintf(buffer + off, "Subindex: 0x%02X\n", entry->subindex);
fp@409:     off += sprintf(buffer + off, "Description: %s\n",
fp@409:                    entry->description ? entry->description : "");
fp@409:     off += sprintf(buffer + off, "Data type: 0x%04X\n", entry->data_type);
fp@409:     off += sprintf(buffer + off, "Bit length: %i\n", entry->bit_length);
fp@409: 
fp@409:     return off;
fp@409: }
fp@409: 
fp@409: /*****************************************************************************/
fp@409: 
fp@847: /** Format entry data based on the CANopen data type and print it to a buffer.
fp@847:  *
fp@758:  * \return number of bytes written.
fp@758:  */
fp@847: ssize_t ec_sdo_entry_format_data(
fp@847:         ec_sdo_entry_t *entry, /**< Sdo entry. */
fp@847:         ec_sdo_request_t *request, /**< Sdo request. */
fp@847:         char *buffer /**< Target buffer. */
fp@847:         )
fp@430: {
fp@430:     off_t off = 0;
fp@430:     unsigned int i;
fp@430: 
fp@657:     if (entry->data_type == 0x0002) { // int8
fp@657:         int8_t value;
fp@657:         if (entry->bit_length != 8)
fp@657:             goto not_fit;
fp@657:         value = EC_READ_S8(request->data);
fp@657:         off += sprintf(buffer + off, "%i (0x%02X)\n", value, value);
fp@657:     }
fp@657:     else if (entry->data_type == 0x0003) { // int16
fp@657:         int16_t value;
fp@657:         if (entry->bit_length != 16)
fp@657:             goto not_fit;
fp@657:         value = EC_READ_S16(request->data);
fp@657:         off += sprintf(buffer + off, "%i (0x%04X)\n", value, value);
fp@657:     }
fp@657:     else if (entry->data_type == 0x0004) { // int32
fp@657:         int32_t value;
fp@657:         if (entry->bit_length != 32)
fp@657:             goto not_fit;
fp@657:         value = EC_READ_S16(request->data);
fp@657:         off += sprintf(buffer + off, "%i (0x%08X)\n", value, value);
fp@657:     }
fp@657:     else if (entry->data_type == 0x0005) { // uint8
fp@657:         uint8_t value;
fp@657:         if (entry->bit_length != 8)
fp@657:             goto not_fit;
fp@657:         value = EC_READ_U8(request->data);
fp@657:         off += sprintf(buffer + off, "%u (0x%02X)\n", value, value);
fp@657:     }
fp@657:     else if (entry->data_type == 0x0006) { // uint16
fp@657:         uint16_t value;
fp@657:         if (entry->bit_length != 16)
fp@657:             goto not_fit;
fp@657:         value = EC_READ_U16(request->data); 
fp@657:         off += sprintf(buffer + off, "%u (0x%04X)\n", value, value);
fp@657:     }
fp@657:     else if (entry->data_type == 0x0007) { // uint32
fp@657:         uint32_t value;
fp@657:         if (entry->bit_length != 32)
fp@657:             goto not_fit;
fp@657:         value = EC_READ_U32(request->data);
fp@657:         off += sprintf(buffer + off, "%i (0x%08X)\n", value, value);
fp@430:     }
fp@430:     else if (entry->data_type == 0x0009) { // string
fp@430:         off += sprintf(buffer + off, "%s\n", request->data);
fp@430:     }
fp@430:     else {
fp@657:         off += sprintf(buffer + off, "Unknown data type %04X. Data:\n",
fp@657:                 entry->data_type);
fp@657:         goto raw_data;
fp@657:     }
fp@657:     return off;
fp@657: 
fp@657: not_fit:
fp@657:     off += sprintf(buffer + off,
fp@657:             "Invalid bit length %u for data type 0x%04X. Data:\n",
fp@657:             entry->bit_length, entry->data_type);
fp@657: raw_data:
fp@854:     for (i = 0; i < request->data_size; i++)
fp@657:         off += sprintf(buffer + off, "%02X (%c)\n",
fp@657:                 request->data[i], request->data[i]);
fp@430:     return off;
fp@430: }
fp@430: 
fp@430: /*****************************************************************************/
fp@430: 
fp@847: /** Start blocking Sdo entry reading.
fp@847:  *
fp@758:  * This function blocks, until reading is finished, and is interruptible as
fp@758:  * long as the master state machine has not begun with reading.
fp@847:  *
fp@758:  * \return number of bytes written to buffer, or error code.
fp@758:  */
fp@847: ssize_t ec_sdo_entry_read_value(
fp@847:         ec_sdo_entry_t *entry, /**< Sdo entry. */
fp@847:         char *buffer /**< Target buffer. */
fp@847:         )
fp@430: {
fp@739:     ec_master_t *master = entry->sdo->slave->master;
fp@430:     off_t off = 0;
fp@849:     ec_master_sdo_request_t request;
fp@849: 
fp@849:     request.slave = entry->sdo->slave;
fp@852:     ec_sdo_request_init(&request.req);
fp@854:     ec_sdo_request_address(&request.req, entry->sdo->index, entry->subindex);
fp@858:     ecrt_sdo_request_read(&request.req);
fp@646: 
fp@646:     // schedule request.
fp@646:     down(&master->sdo_sem);
fp@849:     list_add_tail(&request.list, &master->slave_sdo_requests);
fp@646:     up(&master->sdo_sem);
fp@646: 
fp@646:     // wait for processing through FSM
fp@646:     if (wait_event_interruptible(master->sdo_queue,
fp@849:                 request.req.state != EC_REQUEST_QUEUED)) {
fp@441:         // interrupted by signal
fp@646:         down(&master->sdo_sem);
fp@849:         if (request.req.state == EC_REQUEST_QUEUED) {
fp@849:             list_del(&request.req.list);
fp@646:             up(&master->sdo_sem);
fp@646:             return -EINTR;
fp@646:         }
fp@646:         // request already processing: interrupt not possible.
fp@646:         up(&master->sdo_sem);
fp@646:     }
fp@646: 
fp@646:     // wait until master FSM has finished processing
fp@861:     wait_event(master->sdo_queue, request.req.state != EC_REQUEST_BUSY);
fp@861: 
fp@861:     if (request.req.state != EC_REQUEST_SUCCESS)
fp@646:         return -EIO;
fp@646: 
fp@849:     off += ec_sdo_entry_format_data(entry, &request.req, buffer);
fp@849: 
fp@849:     ec_sdo_request_clear(&request.req);
fp@430:     return off;
fp@430: }
fp@430: 
fp@430: /*****************************************************************************/
fp@430: 
fp@847: /** Show the Sysfs attribute of an Sdo entry.
fp@847:  *
fp@847:  * /return Number of bytes written to buffer.
fp@758:  */ 
fp@847: ssize_t ec_show_sdo_entry_attribute(
fp@847:         struct kobject *kobj, /**< kobject. */
fp@847:         struct attribute *attr, /**< Sysfs attribute. */
fp@847:         char *buffer /**< Target buffer. */
fp@847:         )
fp@409: {
fp@409:     ec_sdo_entry_t *entry = container_of(kobj, ec_sdo_entry_t, kobj);
fp@409: 
fp@409:     if (attr == &attr_info) {
fp@409:         return ec_sdo_entry_info(entry, buffer);
fp@409:     }
fp@430:     else if (attr == &attr_value) {
fp@430:         return ec_sdo_entry_read_value(entry, buffer);
fp@430:     }
fp@409: 
fp@409:     return 0;
fp@409: }
fp@409: 
fp@409: /*****************************************************************************/