fp@792: /******************************************************************************
fp@792:  *
fp@792:  *  $Id$
fp@792:  *
fp@792:  *  Copyright (C) 2006  Florian Pose, Ingenieurgemeinschaft IgH
fp@792:  *
fp@792:  *  This file is part of the IgH EtherCAT Master.
fp@792:  *
fp@792:  *  The IgH EtherCAT Master is free software; you can redistribute it
fp@792:  *  and/or modify it under the terms of the GNU General Public License
fp@792:  *  as published by the Free Software Foundation; either version 2 of the
fp@792:  *  License, or (at your option) any later version.
fp@792:  *
fp@792:  *  The IgH EtherCAT Master is distributed in the hope that it will be
fp@792:  *  useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
fp@792:  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
fp@792:  *  GNU General Public License for more details.
fp@792:  *
fp@792:  *  You should have received a copy of the GNU General Public License
fp@792:  *  along with the IgH EtherCAT Master; if not, write to the Free Software
fp@792:  *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
fp@792:  *
fp@792:  *  The right to use EtherCAT Technology is granted and comes free of
fp@792:  *  charge under condition of compatibility of product made by
fp@792:  *  Licensee. People intending to distribute/sell products based on the
fp@792:  *  code, have to sign an agreement to guarantee that products using
fp@792:  *  software based on IgH EtherCAT master stay compatible with the actual
fp@792:  *  EtherCAT specification (which are released themselves as an open
fp@792:  *  standard) as the (only) precondition to have the right to use EtherCAT
fp@792:  *  Technology, IP and trade marks.
fp@792:  *
fp@792:  *****************************************************************************/
fp@792: 
fp@792: /**
fp@792:    \file
fp@792:    EtherCAT slave configuration methods.
fp@792: */
fp@792: 
fp@792: /*****************************************************************************/
fp@792: 
fp@792: #include <linux/module.h>
fp@792: 
fp@792: #include "globals.h"
fp@792: #include "master.h"
fp@792: 
fp@792: #include "slave_config.h"
fp@792: 
fp@792: /*****************************************************************************/
fp@792: 
fp@792: void ec_slave_config_clear(struct kobject *);
fp@792: ssize_t ec_show_slave_config_attribute(struct kobject *, struct attribute *,
fp@792:         char *);
fp@792: 
fp@792: /*****************************************************************************/
fp@792: 
fp@792: /** \cond */
fp@792: 
fp@792: EC_SYSFS_READ_ATTR(info);
fp@792: 
fp@792: static struct attribute *def_attrs[] = {
fp@792:     &attr_info,
fp@792:     NULL,
fp@792: };
fp@792: 
fp@792: static struct sysfs_ops sysfs_ops = {
fp@792:     .show = ec_show_slave_config_attribute
fp@792: };
fp@792: 
fp@792: static struct kobj_type ktype_ec_slave_config = {
fp@792:     .release = ec_slave_config_clear,
fp@792:     .sysfs_ops = &sysfs_ops,
fp@792:     .default_attrs = def_attrs
fp@792: };
fp@792: 
fp@792: /** \endcond */
fp@792: 
fp@792: /*****************************************************************************/
fp@792: 
fp@792: /** Slave configuration constructor.
fp@792:  *
fp@792:  * See ecrt_master_slave_config() for the usage of the \a alias and \a
fp@792:  * position parameters.
fp@792:  *
fp@792:  * \retval 0 Success.
fp@792:  * \retval <0 Failure.
fp@792:  */
fp@792: int ec_slave_config_init(ec_slave_config_t *sc, /**< Slave configuration. */
fp@792:         ec_master_t *master, /**< EtherCAT master. */
fp@792:         uint16_t alias, /**< Slave alias. */
fp@792:         uint16_t position, /**< Slave position. */
fp@792:         uint32_t vendor_id, /**< Expected vendor ID. */
fp@792:         uint32_t product_code /**< Expected product code. */
fp@792:         )
fp@792: {
fp@792:     ec_direction_t dir;
fp@792: 
fp@792:     sc->master = master;
fp@792:     sc->alias = alias;
fp@792:     sc->position = position;
fp@792:     sc->vendor_id = vendor_id;
fp@792:     sc->product_code = product_code;
fp@792:     sc->slave = NULL;
fp@792: 
fp@792:     for (dir = EC_DIR_OUTPUT; dir <= EC_DIR_INPUT; dir++)
fp@792:         ec_pdo_mapping_init(&sc->mapping[dir]);
fp@792: 
fp@792:     INIT_LIST_HEAD(&sc->sdo_configs);
fp@858:     INIT_LIST_HEAD(&sc->sdo_requests);
fp@792: 
fp@792:     sc->used_fmmus = 0;
fp@792: 
fp@792:     // init kobject and add it to the hierarchy
fp@792:     memset(&sc->kobj, 0x00, sizeof(struct kobject));
fp@792:     kobject_init(&sc->kobj);
fp@792:     sc->kobj.ktype = &ktype_ec_slave_config;
fp@792:     sc->kobj.parent = &master->kobj;
fp@792:     if (kobject_set_name(&sc->kobj, "config-%u-%u", sc->alias, sc->position)) {
fp@792:         EC_ERR("Failed to set kobject name for slave config %u:%u.\n",
fp@792:                 sc->alias, sc->position);
fp@792:         goto out_put;
fp@792:     }
fp@792:     if (kobject_add(&sc->kobj)) {
fp@792:         EC_ERR("Failed to add kobject for slave config %u:%u.\n",
fp@792:                 sc->alias, sc->position);
fp@792:         goto out_put;
fp@792:     }
fp@792: 
fp@792:     return 0;
fp@792: 
fp@792:  out_put:
fp@792:     kobject_put(&sc->kobj);
fp@792:     return -1;
fp@792: }
fp@792: 
fp@792: /*****************************************************************************/
fp@792: 
fp@792: /** Slave configuration destructor.
fp@792:  *
fp@792:  * Clears and frees a slave configuration object.
fp@792:  */
fp@792: void ec_slave_config_destroy(
fp@792:         ec_slave_config_t *sc /**< Slave configuration. */
fp@792:         )
fp@792: {
fp@792:     ec_slave_config_detach(sc);
fp@792: 
fp@792:     // destroy self
fp@792:     kobject_del(&sc->kobj);
fp@792:     kobject_put(&sc->kobj);
fp@792: }
fp@792: 
fp@792: /*****************************************************************************/
fp@792: 
fp@792: /** Clear and free the slave configuration.
fp@792:  * 
fp@792:  * This method is called by the kobject, once there are no more references to
fp@792:  * it.
fp@792:  */
fp@792: void ec_slave_config_clear(struct kobject *kobj /**< kobject of the config. */)
fp@792: {
fp@792:     ec_slave_config_t *sc;
fp@792:     ec_direction_t dir;
fp@854:     ec_sdo_request_t *req, *next_req;
fp@792: 
fp@792:     sc = container_of(kobj, ec_slave_config_t, kobj);
fp@792: 
fp@792:     // Free Pdo mappings
fp@792:     for (dir = EC_DIR_OUTPUT; dir <= EC_DIR_INPUT; dir++)
fp@792:         ec_pdo_mapping_clear(&sc->mapping[dir]);
fp@792: 
fp@814:     // free all Sdo configurations
fp@854:     list_for_each_entry_safe(req, next_req, &sc->sdo_configs, list) {
fp@854:         list_del(&req->list);
fp@854:         ec_sdo_request_clear(req);
fp@854:         kfree(req);
fp@854:     }
fp@792: 
fp@858:     // free all Sdo requests
fp@858:     list_for_each_entry_safe(req, next_req, &sc->sdo_requests, list) {
fp@858:         list_del(&req->list);
fp@858:         ec_sdo_request_clear(req);
fp@858:         kfree(req);
fp@858:     }
fp@858: 
fp@792:     kfree(sc);
fp@792: }
fp@792: 
fp@792: /*****************************************************************************/
fp@792: 
fp@792: /** Prepares an FMMU configuration.
fp@792:  *
fp@792:  * Configuration data for the FMMU is saved in the slave config structure and
fp@792:  * is written to the slave during the configuration. The FMMU configuration
fp@792:  * is done in a way, that the complete data range of the corresponding sync
fp@792:  * manager is covered. Seperate FMMUs are configured for each domain. If the
fp@792:  * FMMU configuration is already prepared, the function returns with success.
fp@792:  *
fp@792:  * \retval >=0 Logical offset address.
fp@792:  * \retval -1  FMMU limit reached.
fp@792:  */
fp@792: int ec_slave_config_prepare_fmmu(
fp@792:         ec_slave_config_t *sc, /**< Slave configuration. */
fp@792:         ec_domain_t *domain, /**< Domain. */
fp@814:         ec_direction_t dir /**< Pdo direction. */
fp@792:         )
fp@792: {
fp@792:     unsigned int i;
fp@792:     ec_fmmu_config_t *fmmu;
fp@792: 
fp@792:     // FMMU configuration already prepared?
fp@792:     for (i = 0; i < sc->used_fmmus; i++) {
fp@792:         fmmu = &sc->fmmu_configs[i];
fp@792:         if (fmmu->domain == domain && fmmu->dir == dir)
fp@792:             return fmmu->logical_start_address;
fp@792:     }
fp@792: 
fp@792:     if (sc->used_fmmus == EC_MAX_FMMUS) {
fp@792:         EC_ERR("FMMU limit reached for slave configuration %u:%u!\n",
fp@792:                 sc->alias, sc->position);
fp@792:         return -1;
fp@792:     }
fp@792: 
fp@792:     fmmu = &sc->fmmu_configs[sc->used_fmmus++];
fp@792:     ec_fmmu_config_init(fmmu, sc, domain, dir);
fp@792:     return fmmu->logical_start_address;
fp@792: }
fp@792: 
fp@792: /*****************************************************************************/
fp@792: 
fp@792: /** Outputs all information about a certain slave configuration.
fp@792: */
fp@792: ssize_t ec_slave_config_info(
fp@792:         const ec_slave_config_t *sc, /**< Slave configuration. */
fp@792:         char *buffer /**< Output buffer */
fp@792:         )
fp@792: {
fp@792:     char *buf = buffer;
fp@792:     ec_direction_t dir;
fp@792:     const ec_pdo_mapping_t *map;
fp@792:     const ec_pdo_t *pdo;
fp@792:     const ec_pdo_entry_t *entry;
fp@792:     char str[20];
fp@854:     const ec_sdo_request_t *req;
fp@792: 
fp@792:     buf += sprintf(buf, "Alias: 0x%04X (%u)\n", sc->alias, sc->alias);
fp@792:     buf += sprintf(buf, "Position: %u\n", sc->position);
fp@792: 
fp@792:     for (dir = EC_DIR_OUTPUT; dir <= EC_DIR_INPUT; dir++) {
fp@792:         map = &sc->mapping[dir];
fp@792:         
fp@792:         if (!list_empty(&map->pdos)) {
fp@792:             buf += sprintf(buf, "%s mapping:\n",
fp@792:                     dir == EC_DIR_OUTPUT ? "Output" : "Input");
fp@792: 
fp@792:             list_for_each_entry(pdo, &map->pdos, list) {
fp@792:                 buf += sprintf(buf, "  %s 0x%04X \"%s\"\n",
fp@792:                         pdo->dir == EC_DIR_OUTPUT ? "RxPdo" : "TxPdo",
fp@792:                         pdo->index, pdo->name ? pdo->name : "???");
fp@792: 
fp@792:                 list_for_each_entry(entry, &pdo->entries, list) {
fp@792:                     buf += sprintf(buf, "    0x%04X:%X \"%s\", %u bit\n",
fp@792:                             entry->index, entry->subindex,
fp@792:                             entry->name ? entry->name : "???",
fp@792:                             entry->bit_length);
fp@792:                 }
fp@792:             }
fp@792:         }
fp@792:     }
fp@792:     
fp@792:     // type-cast to avoid warnings on some compilers
fp@792:     if (!list_empty((struct list_head *) &sc->sdo_configs)) {
fp@814:         buf += sprintf(buf, "\nSdo configurations:\n");
fp@792: 
fp@854:         list_for_each_entry(req, &sc->sdo_configs, list) {
fp@854:             switch (req->data_size) {
fp@854:                 case 1: sprintf(str, "%u", EC_READ_U8(req->data)); break;
fp@854:                 case 2: sprintf(str, "%u", EC_READ_U16(req->data)); break;
fp@854:                 case 4: sprintf(str, "%u", EC_READ_U32(req->data)); break;
fp@792:                 default: sprintf(str, "(invalid size)"); break;
fp@792:             }
fp@792:             buf += sprintf(buf, "  0x%04X:%-3i -> %s\n",
fp@854:                     req->index, req->subindex, str);
fp@792:         }
fp@792:         buf += sprintf(buf, "\n");
fp@792:     }
fp@792: 
fp@858:     // type-cast to avoid warnings on some compilers
fp@858:     if (!list_empty((struct list_head *) &sc->sdo_requests)) {
fp@858:         buf += sprintf(buf, "\nSdo requests:\n");
fp@858: 
fp@858:         list_for_each_entry(req, &sc->sdo_requests, list) {
fp@858:             buf += sprintf(buf, "  0x%04X:%u\n", req->index, req->subindex);
fp@858:         }
fp@858:         buf += sprintf(buf, "\n");
fp@858:     }
fp@858: 
fp@792:     return buf - buffer;
fp@792: }
fp@792: 
fp@792: /*****************************************************************************/
fp@792: 
fp@792: /** Formats attribute data for SysFS read access.
fp@792:  *
fp@792:  * \return number of bytes to read
fp@792:  */
fp@792: ssize_t ec_show_slave_config_attribute(
fp@792:         struct kobject *kobj, /**< Slave configuration's kobject */
fp@792:         struct attribute *attr, /**< Requested attribute. */
fp@792:         char *buffer /**< Memory to store data. */
fp@792:         )
fp@792: {
fp@792:     ec_slave_config_t *sc = container_of(kobj, ec_slave_config_t, kobj);
fp@792: 
fp@792:     if (attr == &attr_info) {
fp@792:         return ec_slave_config_info(sc, buffer);
fp@792:     }
fp@792: 
fp@792:     return 0;
fp@792: }
fp@792: 
fp@792: /*****************************************************************************/
fp@792: 
fp@814: /** Adds an Sdo configuration.
fp@792:  */
fp@792: int ec_slave_config_sdo(ec_slave_config_t *sc, uint16_t index,
fp@792:         uint8_t subindex, const uint8_t *data, size_t size)
fp@792: {
fp@792:     ec_slave_t *slave = sc->slave;
fp@854:     ec_sdo_request_t *req;
fp@792: 
fp@834:     if (slave && !(slave->sii.mailbox_protocols & EC_MBOX_COE)) {
fp@792:         EC_ERR("Slave %u does not support CoE!\n", slave->ring_position);
fp@792:         return -1;
fp@792:     }
fp@792: 
fp@854:     if (!(req = (ec_sdo_request_t *)
fp@854:           kmalloc(sizeof(ec_sdo_request_t), GFP_KERNEL))) {
fp@854:         EC_ERR("Failed to allocate memory for Sdo configuration!\n");
fp@792:         return -1;
fp@792:     }
fp@792: 
fp@854:     ec_sdo_request_init(req);
fp@854:     ec_sdo_request_address(req, index, subindex);
fp@854: 
fp@854:     if (ec_sdo_request_copy_data(req, data, size)) {
fp@854:         ec_sdo_request_clear(req);
fp@854:         kfree(req);
fp@792:         return -1;
fp@792:     }
fp@854:         
fp@854:     list_add_tail(&req->list, &sc->sdo_configs);
fp@792:     return 0;
fp@792: }
fp@792: 
fp@792: /*****************************************************************************/
fp@792: 
fp@792: /** Attaches the configuration to the addressed slave object.
fp@792:  *
fp@792:  * \retval 0 Success.
fp@792:  * \retval -1 Slave not found.
fp@792:  * \retval -2 Slave already configured.
fp@792:  * \retval -3 Invalid slave type found at the given position.
fp@792:  */
fp@792: int ec_slave_config_attach(
fp@792:         ec_slave_config_t *sc /**< Slave configuration. */
fp@792:         )
fp@792: {
fp@792: 	ec_slave_t *slave;
fp@792: 	unsigned int alias_found = 0, relative_position = 0;
fp@792: 
fp@792: 	if (sc->slave)
fp@792: 		return 0; // already attached
fp@792: 
fp@792: 	list_for_each_entry(slave, &sc->master->slaves, list) {
fp@792: 		if (!alias_found) {
fp@834: 			if (sc->alias && slave->sii.alias != sc->alias)
fp@792: 				continue;
fp@792: 			alias_found = 1;
fp@792: 			relative_position = 0;
fp@792: 		}
fp@792: 		if (relative_position == sc->position)
fp@792: 			goto found;
fp@792: 		relative_position++;
fp@792: 	}
fp@792: 
fp@797: 	EC_WARN("Failed to find slave for configuration %u:%u.\n",
fp@792: 			sc->alias, sc->position);
fp@792: 	return -1;
fp@792: 
fp@792: found:
fp@792: 	if (slave->config) {
fp@792: 		EC_ERR("Failed to attach slave configuration %u:%u. Slave %u"
fp@792: 				" already has a configuration!\n", sc->alias,
fp@792: 				sc->position, slave->ring_position);
fp@792: 		return -2;
fp@792: 	}
fp@834: 	if (slave->sii.vendor_id != sc->vendor_id
fp@834: 			|| slave->sii.product_code != sc->product_code) {
fp@792: 		EC_ERR("Slave %u has an invalid type (0x%08X/0x%08X) for"
fp@792: 				" configuration %u:%u (0x%08X/0x%08X).\n",
fp@834: 				slave->ring_position, slave->sii.vendor_id,
fp@834: 				slave->sii.product_code, sc->alias, sc->position,
fp@792: 				sc->vendor_id, sc->product_code);
fp@792: 		return -3;
fp@792: 	}
fp@792: 
fp@792: 	// attach slave
fp@792: 	slave->config = sc;
fp@792: 	sc->slave = slave;
fp@792: 
fp@792:     ec_slave_request_state(slave, EC_SLAVE_STATE_OP);
fp@792: 
fp@792: 	return 0;
fp@792: }
fp@792: 
fp@792: /*****************************************************************************/
fp@792: 
fp@792: /** Detaches the configuration from a slave object.
fp@792:  */
fp@792: void ec_slave_config_detach(
fp@792:         ec_slave_config_t *sc /**< Slave configuration. */
fp@792:         )
fp@792: {
fp@792:     if (sc->slave) {
fp@792:         sc->slave->config = NULL;
fp@792:         sc->slave = NULL;
fp@792:     }
fp@792: }
fp@792: 
fp@792: /*****************************************************************************/
fp@792: 
fp@792: /** Loads the default mapping from the slave object.
fp@792:  */
fp@792: void ec_slave_config_load_default_mapping(ec_slave_config_t *sc)
fp@792: {
fp@792:     ec_direction_t dir;
fp@792:     ec_pdo_mapping_t *map;
fp@792:     ec_sync_t *sync;
fp@792: 
fp@792:     if (!sc->slave)
fp@792:         return;
fp@792:     
fp@792:     for (dir = EC_DIR_OUTPUT; dir <= EC_DIR_INPUT; dir++) {
fp@792:         map = &sc->mapping[dir];
fp@792:         if (!(sync = ec_slave_get_pdo_sync(sc->slave, dir)))
fp@792:             continue;
fp@792:         ec_pdo_mapping_copy(map, &sync->mapping);
fp@842:         map->default_mapping = 1;
fp@842:     }
fp@842: }
fp@842: 
fp@842: /*****************************************************************************/
fp@842: 
fp@842: /** Loads the default configuration for a Pdo from the slave object.
fp@842:  */
fp@842: void ec_slave_config_load_default_pdo_config(
fp@842:         const ec_slave_config_t *sc,
fp@842:         ec_pdo_t *pdo
fp@842:         )
fp@842: {
fp@842:     const ec_sync_t *sync;
fp@842:     const ec_pdo_t *default_pdo;
fp@842: 
fp@843:     if (sc->master->debug_level)
fp@843:         EC_DBG("Loading default configuration for Pdo 0x%04X in"
fp@843:                 " config %u:%u.\n", pdo->index, sc->alias, sc->position);
fp@843: 
fp@842:     pdo->default_config = 1;
fp@842: 
fp@842:     if (!sc->slave) {
fp@842:         EC_WARN("Failed to load default Pdo configuration for %u:%u:"
fp@842:                 " Slave not found.\n", sc->alias, sc->position);
fp@842:         return;
fp@842:     }
fp@842: 
fp@842:     if (!(sync = ec_slave_get_pdo_sync(sc->slave, pdo->dir))) {
fp@842:         EC_WARN("Slave %u does not provide a default Pdo"
fp@842:                 " configuration!\n", sc->slave->ring_position);
fp@842:         return;
fp@842:     }
fp@842: 
fp@842:     list_for_each_entry(default_pdo, &sync->mapping.pdos, list) {
fp@842:         if (default_pdo->index != pdo->index)
fp@842:             continue;
fp@842: 
fp@842:         if (sc->master->debug_level)
fp@842:             EC_DBG("  Found Pdo name \"%s\".\n",
fp@842:                     default_pdo->name);
fp@842: 
fp@842:         // try to take Pdo name from mapped one
fp@842:         ec_pdo_set_name(pdo, default_pdo->name);
fp@842: 
fp@842:         // copy entries (= default Pdo configuration)
fp@842:         if (ec_pdo_copy_entries(pdo, default_pdo))
fp@842:             return;
fp@842: 
fp@842:         if (sc->master->debug_level) {
fp@842:             const ec_pdo_entry_t *entry;
fp@842:             list_for_each_entry(entry, &pdo->entries, list) {
fp@842:                 EC_DBG("    Entry 0x%04X:%u.\n",
fp@842:                         entry->index, entry->subindex);
fp@842:             }
fp@842:         }
fp@792:     }
fp@792: }
fp@792: 
fp@792: /******************************************************************************
fp@792:  *  Realtime interface
fp@792:  *****************************************************************************/
fp@792: 
fp@842: int ecrt_slave_config_pdo(ec_slave_config_t *sc, ec_direction_t dir,
fp@842:         uint16_t index)
fp@842: {
fp@842:     ec_pdo_mapping_t *pm = &sc->mapping[dir];
fp@842:     ec_pdo_t *pdo;
fp@842:     
fp@842:     if (pm->default_mapping) {
fp@843:         if (sc->master->debug_level)
fp@843:             EC_DBG("Clearing default mapping for dir %u, config %u:%u.\n",
fp@843:                     dir, sc->alias, sc->position);
fp@842:         pm->default_mapping = 0;
fp@842:         ec_pdo_mapping_clear_pdos(pm);
fp@842:     }
fp@842: 
fp@843:     if (sc->master->debug_level)
fp@843:         EC_DBG("Adding Pdo 0x%04X to mapping for dir %u, config %u:%u.\n",
fp@843:                 index, dir, sc->alias, sc->position);
fp@843: 
fp@844:     if (!(pdo = ec_pdo_mapping_add_pdo(pm, dir, index)))
fp@842:         return -1;
fp@842: 
fp@842:     ec_slave_config_load_default_pdo_config(sc, pdo);
fp@842:     return 0;
fp@842: }
fp@842: 
fp@842: /*****************************************************************************/
fp@842: 
fp@842: int ecrt_slave_config_pdo_entry(ec_slave_config_t *sc, uint16_t pdo_index,
fp@842:         uint16_t entry_index, uint8_t entry_subindex,
fp@842:         uint8_t entry_bit_length)
fp@842: {
fp@842:     ec_direction_t dir;
fp@842:     ec_pdo_t *pdo;
fp@842:     
fp@843:     if (sc->master->debug_level)
fp@843:         EC_DBG("Adding Pdo entry 0x%04X:%u (%u bit) to configuration of Pdo"
fp@843:                 " 0x%04X, config %u:%u.\n", entry_index, entry_subindex,
fp@843:                 entry_bit_length, pdo_index, sc->alias, sc->position);
fp@843: 
fp@842:     for (dir = EC_DIR_OUTPUT; dir <= EC_DIR_INPUT; dir++)
fp@842:         if ((pdo = ec_pdo_mapping_find_pdo(&sc->mapping[dir], pdo_index)))
fp@842:             break;
fp@842: 
fp@843:     if (!pdo) {
fp@843:         EC_ERR("Pdo 0x%04X was not found in the mapping of config %u:%u.\n",
fp@843:                 pdo_index, sc->alias, sc->position);
fp@843:         return -1;
fp@843:     }
fp@843: 
fp@842:     if (pdo->default_config) {
fp@843:         if (sc->master->debug_level)
fp@843:             EC_DBG("Clearing default configuration of Pdo 0x%04X,"
fp@843:                     " config %u:%u.\n", pdo->index, sc->alias, sc->position);
fp@842:         pdo->default_config = 0;
fp@842:         ec_pdo_clear_entries(pdo);
fp@842:     }
fp@842: 
fp@842:     return ec_pdo_add_entry(pdo, entry_index, entry_subindex,
fp@842:             entry_bit_length) ? 0 : -1;
fp@842: }
fp@842: 
fp@842: /*****************************************************************************/
fp@842: 
fp@844: int ecrt_slave_config_mapping(ec_slave_config_t *sc, unsigned int n_infos,
fp@792:         const ec_pdo_info_t pdo_infos[])
fp@792: {
fp@844:     unsigned int i, j;
fp@842:     const ec_pdo_info_t *pi;
fp@842:     ec_pdo_mapping_t *pm;
fp@842:     ec_pdo_t *pdo;
fp@842:     const ec_pdo_entry_info_t *ei;
fp@842: 
fp@844:     for (i = 0; i < n_infos; i++) {
fp@842:         pi = &pdo_infos[i];
fp@842:         pm = &sc->mapping[pi->dir];
fp@842: 
fp@842:         if (pm->default_mapping) {
fp@843:             if (sc->master->debug_level)
fp@843:                 EC_DBG("Clearing default mapping for dir %u, config %u:%u.\n",
fp@843:                         pi->dir, sc->alias, sc->position);
fp@842:             pm->default_mapping = 0;
fp@842:             ec_pdo_mapping_clear_pdos(pm);
fp@842:         }
fp@842: 
fp@842:         if (sc->master->debug_level)
fp@844:             EC_DBG("Adding Pdo 0x%04X to mapping for dir %u, config %u:%u.\n",
fp@844:                     pi->index, pi->dir, sc->alias, sc->position);
fp@842: 
fp@842:         if (!(pdo = ec_pdo_mapping_add_pdo(pm, pi->dir, pi->index)))
fp@792:             return -1;
fp@792: 
fp@842:         if (pi->n_entries && pi->entries) { // configuration provided
fp@842:             if (sc->master->debug_level)
fp@842:                 EC_DBG("  Pdo configuration information provided.\n");
fp@842: 
fp@844:             for (j = 0; j < pi->n_entries; j++) {
fp@844:                 ei = &pi->entries[j];
fp@842:                 if (!ec_pdo_add_entry(pdo, ei->index, ei->subindex,
fp@842:                             ei->bit_length))
fp@842:                     return -1;
fp@842:             }
fp@842:         } else { // use default Pdo configuration
fp@842:             ec_slave_config_load_default_pdo_config(sc, pdo);
fp@842:         }
fp@842:     }
fp@842: 
fp@792:     return 0;
fp@792: }
fp@792: 
fp@792: /*****************************************************************************/
fp@792: 
fp@807: int ecrt_slave_config_reg_pdo_entry(
fp@807:         ec_slave_config_t *sc, /**< Slave configuration. */
fp@807:         uint16_t index, /**< Index of Pdo entry to register. */
fp@807:         uint8_t subindex, /**< Subindex of Pdo entry to register. */
fp@807:         ec_domain_t *domain /**< Domain. */
fp@807:         )
fp@807: {
fp@807:     ec_direction_t dir;
fp@807:     ec_pdo_mapping_t *map;
fp@807:     unsigned int bit_offset, byte_offset;
fp@807:     ec_pdo_t *pdo;
fp@807:     ec_pdo_entry_t *entry;
fp@807:     int ret;
fp@807: 
fp@807:     for (dir = EC_DIR_OUTPUT; dir <= EC_DIR_INPUT; dir++) {
fp@807:         map = &sc->mapping[dir];
fp@807:         bit_offset = 0;
fp@807:         list_for_each_entry(pdo, &map->pdos, list) {
fp@807:             list_for_each_entry(entry, &pdo->entries, list) {
fp@807:                 if (entry->index != index || entry->subindex != subindex) {
fp@807:                     bit_offset += entry->bit_length;
fp@807:                 } else {
fp@807:                     goto found;
fp@807:                 }
fp@807:             }
fp@807:         }
fp@807:     }
fp@807: 
fp@814:     EC_ERR("Pdo entry 0x%04X:%u is not mapped in slave config %u:%u.\n",
fp@807:            index, subindex, sc->alias, sc->position);
fp@807:     return -1;
fp@807: 
fp@807: found:
fp@807:     byte_offset = bit_offset / 8;
fp@807:     if ((ret = ec_slave_config_prepare_fmmu(sc, domain, dir)) < 0)
fp@807:         return -2;
fp@807:     return ret + byte_offset;
fp@807: }
fp@807: 
fp@807: /*****************************************************************************/
fp@807: 
fp@792: int ecrt_slave_config_sdo8(ec_slave_config_t *slave, uint16_t index,
fp@792:         uint8_t subindex, uint8_t value)
fp@792: {
fp@792:     uint8_t data[1];
fp@792:     EC_WRITE_U8(data, value);
fp@792:     return ec_slave_config_sdo(slave, index, subindex, data, 1);
fp@792: }
fp@792: 
fp@792: /*****************************************************************************/
fp@792: 
fp@792: int ecrt_slave_config_sdo16(ec_slave_config_t *slave, uint16_t index,
fp@792:         uint8_t subindex, uint16_t value)
fp@792: {
fp@792:     uint8_t data[2];
fp@792:     EC_WRITE_U16(data, value);
fp@792:     return ec_slave_config_sdo(slave, index, subindex, data, 2);
fp@792: }
fp@792: 
fp@792: /*****************************************************************************/
fp@792: 
fp@792: int ecrt_slave_config_sdo32(ec_slave_config_t *slave, uint16_t index,
fp@792:         uint8_t subindex, uint32_t value)
fp@792: {
fp@792:     uint8_t data[4];
fp@792:     EC_WRITE_U32(data, value);
fp@792:     return ec_slave_config_sdo(slave, index, subindex, data, 4);
fp@792: }
fp@792: 
fp@792: /*****************************************************************************/
fp@792: 
fp@858: ec_sdo_request_t *ecrt_slave_config_create_sdo_request(ec_slave_config_t *sc,
fp@858:         uint16_t index, uint8_t subindex, size_t size)
fp@858: {
fp@858:     ec_sdo_request_t *req;
fp@858: 
fp@858:     if (!(req = (ec_sdo_request_t *)
fp@858:                 kmalloc(sizeof(ec_sdo_request_t), GFP_KERNEL))) {
fp@858:         EC_ERR("Failed to allocate Sdo request memory!\n");
fp@858:         return NULL;
fp@858:     }
fp@858: 
fp@858:     ec_sdo_request_init(req);
fp@858:     ec_sdo_request_address(req, index, subindex);
fp@858: 
fp@858:     if (ec_sdo_request_alloc(req, size)) {
fp@858:         ec_sdo_request_clear(req);
fp@858:         kfree(req);
fp@858:         return NULL;
fp@858:     }
fp@859: 
fp@859:     // prepare data for optional writing
fp@859:     memset(req->data, 0x00, size);
fp@859:     req->data_size = size;
fp@858:     
fp@858:     list_add_tail(&req->list, &sc->sdo_requests);
fp@858:     return req; 
fp@858: }
fp@858: 
fp@858: /*****************************************************************************/
fp@858: 
fp@792: /** \cond */
fp@792: 
fp@842: EXPORT_SYMBOL(ecrt_slave_config_pdo);
fp@842: EXPORT_SYMBOL(ecrt_slave_config_pdo_entry);
fp@792: EXPORT_SYMBOL(ecrt_slave_config_mapping);
fp@807: EXPORT_SYMBOL(ecrt_slave_config_reg_pdo_entry);
fp@792: EXPORT_SYMBOL(ecrt_slave_config_sdo8);
fp@792: EXPORT_SYMBOL(ecrt_slave_config_sdo16);
fp@792: EXPORT_SYMBOL(ecrt_slave_config_sdo32);
fp@858: EXPORT_SYMBOL(ecrt_slave_config_create_sdo_request);
fp@792: 
fp@792: /** \endcond */
fp@792: 
fp@792: /*****************************************************************************/