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@409:    Canopen-over-EtherCAT functions.
fp@409: */
fp@409: 
fp@409: /*****************************************************************************/
fp@409: 
fp@409: #include <linux/module.h>
fp@409: 
fp@409: #include "canopen.h"
fp@430: #include "master.h"
fp@409: 
fp@409: /*****************************************************************************/
fp@409: 
fp@409: ssize_t ec_show_sdo_attribute(struct kobject *, struct attribute *, char *);
fp@409: ssize_t ec_show_sdo_entry_attribute(struct kobject *, struct attribute *,
fp@409:                                     char *);
fp@409: void ec_sdo_clear(struct kobject *);
fp@409: void ec_sdo_entry_clear(struct kobject *);
fp@409: 
fp@430: void ec_sdo_request_init_read(ec_sdo_request_t *, ec_sdo_t *,
fp@430:                               ec_sdo_entry_t *);
fp@430: void ec_sdo_request_clear(ec_sdo_request_t *);
fp@430: 
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_def_attrs[] = {
fp@409:     &attr_info,
fp@409:     NULL,
fp@409: };
fp@409: 
fp@409: static struct sysfs_ops sdo_sysfs_ops = {
fp@409:     .show = &ec_show_sdo_attribute,
fp@409:     .store = NULL
fp@409: };
fp@409: 
fp@409: static struct kobj_type ktype_ec_sdo = {
fp@409:     .release = ec_sdo_clear,
fp@409:     .sysfs_ops = &sdo_sysfs_ops,
fp@409:     .default_attrs = sdo_def_attrs
fp@409: };
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@409: /**
fp@409:    SDO constructor.
fp@409: */
fp@409: 
fp@409: int ec_sdo_init(ec_sdo_t *sdo, /**< SDO */
fp@409:                 uint16_t index, /**< SDO index */
fp@409:                 ec_slave_t *slave /**< parent slave */
fp@409:                 )
fp@409: {
fp@430:     sdo->slave = slave;
fp@409:     sdo->index = index;
fp@409:     sdo->object_code = 0x00;
fp@409:     sdo->name = NULL;
fp@409:     sdo->subindices = 0;
fp@409:     INIT_LIST_HEAD(&sdo->entries);
fp@409: 
fp@409:     // init kobject and add it to the hierarchy
fp@409:     memset(&sdo->kobj, 0x00, sizeof(struct kobject));
fp@409:     kobject_init(&sdo->kobj);
fp@409:     sdo->kobj.ktype = &ktype_ec_sdo;
fp@419:     sdo->kobj.parent = &slave->sdo_kobj;
fp@419:     if (kobject_set_name(&sdo->kobj, "%4X", sdo->index)) {
fp@409:         EC_ERR("Failed to set kobj name.\n");
fp@484:         kobject_put(&sdo->kobj);
fp@484:         return -1;
fp@484:     }
fp@484:     if (kobject_add(&sdo->kobj)) {
fp@484:         EC_ERR("Failed to add SDO kobject.\n");
fp@484:         kobject_put(&sdo->kobj);
fp@409:         return -1;
fp@409:     }
fp@409: 
fp@409:     return 0;
fp@409: }
fp@409: 
fp@409: /*****************************************************************************/
fp@409: 
fp@409: /**
fp@409:    SDO destructor.
fp@448:    Clears and frees an SDO object.
fp@448: */
fp@448: 
fp@448: void ec_sdo_destroy(ec_sdo_t *sdo /**< SDO */)
fp@448: {
fp@409:     ec_sdo_entry_t *entry, *next;
fp@409: 
fp@409:     // free all entries
fp@409:     list_for_each_entry_safe(entry, next, &sdo->entries, list) {
fp@409:         list_del(&entry->list);
fp@448:         ec_sdo_entry_destroy(entry);
fp@448:     }
fp@448: 
fp@448:     // destroy self
fp@448:     kobject_del(&sdo->kobj);
fp@448:     kobject_put(&sdo->kobj);
fp@448: }
fp@448: 
fp@448: /*****************************************************************************/
fp@448: 
fp@448: /**
fp@448:    Clear and free SDO.
fp@448:    This method is called by the kobject,
fp@448:    once there are no more references to it.
fp@448: */
fp@448: 
fp@448: void ec_sdo_clear(struct kobject *kobj /**< SDO's kobject */)
fp@448: {
fp@448:     ec_sdo_t *sdo = container_of(kobj, ec_sdo_t, kobj);
fp@409: 
fp@409:     if (sdo->name) kfree(sdo->name);
fp@409: 
fp@409:     kfree(sdo);
fp@409: }
fp@409: 
fp@409: /*****************************************************************************/
fp@409: 
fp@409: ssize_t ec_sdo_info(ec_sdo_t *sdo, /**< SDO */
fp@409:                     char *buffer /**< target buffer */
fp@409:                     )
fp@409: {
fp@409:     off_t off = 0;
fp@409: 
fp@409:     off += sprintf(buffer + off, "Index: 0x%04X\n", sdo->index);
fp@409:     off += sprintf(buffer + off, "Name: %s\n", sdo->name ? sdo->name : "");
fp@409:     off += sprintf(buffer + off, "Subindices: %i\n", sdo->subindices);
fp@409: 
fp@409:     return off;
fp@409: }
fp@409: 
fp@409: /*****************************************************************************/
fp@409: 
fp@409: ssize_t ec_show_sdo_attribute(struct kobject *kobj, /**< kobject */
fp@409:                               struct attribute *attr,
fp@409:                               char *buffer
fp@409:                               )
fp@409: {
fp@409:     ec_sdo_t *sdo = container_of(kobj, ec_sdo_t, kobj);
fp@409: 
fp@409:     if (attr == &attr_info) {
fp@409:         return ec_sdo_info(sdo, buffer);
fp@409:     }
fp@409: 
fp@409:     return 0;
fp@409: }
fp@409: 
fp@409: /*****************************************************************************/
fp@409: 
fp@409: /**
fp@409:    SDO entry constructor.
fp@409: */
fp@409: 
fp@409: int ec_sdo_entry_init(ec_sdo_entry_t *entry, /**< SDO entry */
fp@409:                       uint8_t subindex, /**< SDO entry subindex */
fp@409:                       ec_sdo_t *sdo /**< parent SDO */
fp@409:                       )
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@409:     // 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@409: /**
fp@448:    SDO entry destructor.
fp@448:    Clears and frees an SDO entry object.
fp@448: */
fp@448: 
fp@448: void ec_sdo_entry_destroy(ec_sdo_entry_t *entry /**< SDO entry */)
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@448: /**
fp@448:    Clear and free SDO entry.
fp@448:    This method is called by the kobject,
fp@448:    once there are no more references to it.
fp@409: */
fp@409: 
fp@409: void ec_sdo_entry_clear(struct kobject *kobj /**< SDO entry's kobject */)
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@409: 
fp@409: ssize_t ec_sdo_entry_info(ec_sdo_entry_t *entry, /**< SDO entry */
fp@409:                           char *buffer /**< target buffer */
fp@409:                           )
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@430: ssize_t ec_sdo_entry_format_data(ec_sdo_entry_t *entry, /**< SDO entry */
fp@430:                                  ec_sdo_request_t *request, /**< SDO request */
fp@430:                                  char *buffer /**< target buffer */
fp@430:                                  )
fp@430: {
fp@430:     off_t off = 0;
fp@430:     unsigned int i;
fp@430: 
fp@430:     if (entry->data_type == 0x0002 && entry->bit_length == 8) { // int8
fp@430:         off += sprintf(buffer + off, "%i\n", *((int8_t *) request->data));
fp@430:     }
fp@430:     else if (entry->data_type == 0x0003 && entry->bit_length == 16) { // int16
fp@430:         off += sprintf(buffer + off, "%i\n", *((int16_t *) request->data));
fp@430:     }
fp@430:     else if (entry->data_type == 0x0004 && entry->bit_length == 32) { // int32
fp@430:         off += sprintf(buffer + off, "%i\n", *((int32_t *) request->data));
fp@430:     }
fp@430:     else if (entry->data_type == 0x0005 && entry->bit_length == 8) { // uint8
fp@430:         off += sprintf(buffer + off, "%i\n", *((uint8_t *) request->data));
fp@430:     }
fp@430:     else if (entry->data_type == 0x0006 && entry->bit_length == 16) { // uint16
fp@430:         off += sprintf(buffer + off, "%i\n", *((uint16_t *) request->data));
fp@430:     }
fp@430:     else if (entry->data_type == 0x0007 && entry->bit_length == 32) { // uint32
fp@430:         off += sprintf(buffer + off, "%i\n", *((uint32_t *) request->data));
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@430:         for (i = 0; i < request->size; i++)
fp@430:             off += sprintf(buffer + off, "%02X (%c)\n",
fp@430:                            request->data[i], request->data[i]);
fp@430:     }
fp@430: 
fp@430:     return off;
fp@430: }
fp@430: 
fp@430: /*****************************************************************************/
fp@430: 
fp@430: ssize_t ec_sdo_entry_read_value(ec_sdo_entry_t *entry, /**< SDO entry */
fp@430:                                 char *buffer /**< target buffer */
fp@430:                                 )
fp@430: {
fp@430:     ec_sdo_t *sdo = entry->sdo;
fp@430:     ec_master_t *master = sdo->slave->master;
fp@430:     off_t off = 0;
fp@430:     ec_sdo_request_t request;
fp@430: 
fp@441:     if (down_interruptible(&master->sdo_sem)) {
fp@441:         // interrupted by signal
fp@441:         return -ERESTARTSYS;
fp@441:     }
fp@441: 
fp@430:     ec_sdo_request_init_read(&request, sdo, entry);
fp@441: 
fp@441:     // this is necessary, because the completion object
fp@441:     // is completed by the ec_master_flush_sdo_requests() function.
fp@441:     INIT_COMPLETION(master->sdo_complete);
fp@441: 
fp@441:     master->sdo_request = &request;
fp@441:     master->sdo_seq_user++;
fp@441:     master->sdo_timer.expires = jiffies + 10;
fp@441:     add_timer(&master->sdo_timer);
fp@441: 
fp@441:     wait_for_completion(&master->sdo_complete);
fp@441: 
fp@441:     master->sdo_request = NULL;
fp@441:     up(&master->sdo_sem);
fp@430: 
fp@430:     if (request.return_code == 1 && request.data) {
fp@430:         off += ec_sdo_entry_format_data(entry, &request, buffer);
fp@430:     }
fp@441:     else {
fp@430:         off = -EINVAL;
fp@430:     }
fp@430: 
fp@430:     ec_sdo_request_clear(&request);
fp@430:     return off;
fp@430: }
fp@430: 
fp@430: /*****************************************************************************/
fp@430: 
fp@409: ssize_t ec_show_sdo_entry_attribute(struct kobject *kobj, /**< kobject */
fp@409:                                     struct attribute *attr,
fp@409:                                     char *buffer
fp@409:                                     )
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: /*****************************************************************************/
fp@409: 
fp@430: /**
fp@430:    SDO request constructor.
fp@430: */
fp@430: 
fp@430: void ec_sdo_request_init_read(ec_sdo_request_t *req, /**< SDO request */
fp@430:                               ec_sdo_t *sdo, /**< SDO */
fp@430:                               ec_sdo_entry_t *entry /**< SDO entry */
fp@430:                               )
fp@430: {
fp@430:     req->sdo = sdo;
fp@430:     req->entry = entry;
fp@430:     req->data = NULL;
fp@430:     req->size = 0;
fp@430:     req->return_code = 0;
fp@430: }
fp@430: 
fp@430: /*****************************************************************************/
fp@430: 
fp@430: /**
fp@430:    SDO request destructor.
fp@430: */
fp@430: 
fp@430: void ec_sdo_request_clear(ec_sdo_request_t *req /**< SDO request */)
fp@430: {
fp@430:     if (req->data) kfree(req->data);
fp@430: }
fp@430: 
fp@430: /*****************************************************************************/