fp@1732: /******************************************************************************
fp@1732:  *
fp@1732:  *  $Id$
fp@1732:  *
fp@1732:  *  Copyright (C) 2006  Florian Pose, Ingenieurgemeinschaft IgH
fp@1732:  *
fp@1732:  *  This file is part of the IgH EtherCAT Master.
fp@1732:  *
fp@1732:  *  The IgH EtherCAT Master is free software; you can redistribute it
fp@1732:  *  and/or modify it under the terms of the GNU General Public License
fp@1732:  *  as published by the Free Software Foundation; either version 2 of the
fp@1732:  *  License, or (at your option) any later version.
fp@1732:  *
fp@1732:  *  The IgH EtherCAT Master is distributed in the hope that it will be
fp@1732:  *  useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
fp@1732:  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
fp@1732:  *  GNU General Public License for more details.
fp@1732:  *
fp@1732:  *  You should have received a copy of the GNU General Public License
fp@1732:  *  along with the IgH EtherCAT Master; if not, write to the Free Software
fp@1732:  *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
fp@1732:  *
fp@1732:  *  The right to use EtherCAT Technology is granted and comes free of
fp@1732:  *  charge under condition of compatibility of product made by
fp@1732:  *  Licensee. People intending to distribute/sell products based on the
fp@1732:  *  code, have to sign an agreement to guarantee that products using
fp@1732:  *  software based on IgH EtherCAT master stay compatible with the actual
fp@1732:  *  EtherCAT specification (which are released themselves as an open
fp@1732:  *  standard) as the (only) precondition to have the right to use EtherCAT
fp@1732:  *  Technology, IP and trade marks.
fp@1732:  *
fp@1732:  *****************************************************************************/
fp@1732: 
fp@1732: /**
fp@1732:    \file
fp@1732:    Canopen-over-EtherCAT functions.
fp@1732: */
fp@1732: 
fp@1732: /*****************************************************************************/
fp@1732: 
fp@1732: #include <linux/module.h>
fp@1732: 
fp@1732: #include "canopen.h"
fp@1732: #include "master.h"
fp@1732: 
fp@1732: /*****************************************************************************/
fp@1732: 
fp@1732: ssize_t ec_show_sdo_attribute(struct kobject *, struct attribute *, char *);
fp@1732: ssize_t ec_show_sdo_entry_attribute(struct kobject *, struct attribute *,
fp@1732:                                     char *);
fp@1732: void ec_sdo_clear(struct kobject *);
fp@1732: void ec_sdo_entry_clear(struct kobject *);
fp@1732: 
fp@1732: /*****************************************************************************/
fp@1732: 
fp@1732: /** \cond */
fp@1732: 
fp@1732: EC_SYSFS_READ_ATTR(info);
fp@1732: EC_SYSFS_READ_ATTR(value);
fp@1732: 
fp@1732: static struct attribute *sdo_def_attrs[] = {
fp@1732:     &attr_info,
fp@1732:     NULL,
fp@1732: };
fp@1732: 
fp@1732: static struct sysfs_ops sdo_sysfs_ops = {
fp@1732:     .show = &ec_show_sdo_attribute,
fp@1732:     .store = NULL
fp@1732: };
fp@1732: 
fp@1732: static struct kobj_type ktype_ec_sdo = {
fp@1732:     .release = ec_sdo_clear,
fp@1732:     .sysfs_ops = &sdo_sysfs_ops,
fp@1732:     .default_attrs = sdo_def_attrs
fp@1732: };
fp@1732: 
fp@1732: static struct attribute *sdo_entry_def_attrs[] = {
fp@1732:     &attr_info,
fp@1732:     &attr_value,
fp@1732:     NULL,
fp@1732: };
fp@1732: 
fp@1732: static struct sysfs_ops sdo_entry_sysfs_ops = {
fp@1732:     .show = &ec_show_sdo_entry_attribute,
fp@1732:     .store = NULL
fp@1732: };
fp@1732: 
fp@1732: static struct kobj_type ktype_ec_sdo_entry = {
fp@1732:     .release = ec_sdo_entry_clear,
fp@1732:     .sysfs_ops = &sdo_entry_sysfs_ops,
fp@1732:     .default_attrs = sdo_entry_def_attrs
fp@1732: };
fp@1732: 
fp@1732: /** \endcond */
fp@1732: 
fp@1732: /*****************************************************************************/
fp@1732: 
fp@1732: /**
fp@1732:    SDO constructor.
fp@1732: */
fp@1732: 
fp@1732: int ec_sdo_init(ec_sdo_t *sdo, /**< SDO */
fp@1732:                 uint16_t index, /**< SDO index */
fp@1732:                 ec_slave_t *slave /**< parent slave */
fp@1732:                 )
fp@1732: {
fp@1732:     sdo->slave = slave;
fp@1732:     sdo->index = index;
fp@1732:     sdo->object_code = 0x00;
fp@1732:     sdo->name = NULL;
fp@1732:     sdo->subindices = 0;
fp@1732:     INIT_LIST_HEAD(&sdo->entries);
fp@1732: 
fp@1732:     // init kobject and add it to the hierarchy
fp@1732:     memset(&sdo->kobj, 0x00, sizeof(struct kobject));
fp@1732:     kobject_init(&sdo->kobj);
fp@1732:     sdo->kobj.ktype = &ktype_ec_sdo;
fp@1732:     sdo->kobj.parent = &slave->sdo_kobj;
fp@1732:     if (kobject_set_name(&sdo->kobj, "%4X", sdo->index)) {
fp@1732:         EC_ERR("Failed to set kobj name.\n");
fp@1732:         kobject_put(&sdo->kobj);
fp@1732:         return -1;
fp@1732:     }
fp@1732:     if (kobject_add(&sdo->kobj)) {
fp@1732:         EC_ERR("Failed to add SDO kobject.\n");
fp@1732:         kobject_put(&sdo->kobj);
fp@1732:         return -1;
fp@1732:     }
fp@1732: 
fp@1732:     return 0;
fp@1732: }
fp@1732: 
fp@1732: /*****************************************************************************/
fp@1732: 
fp@1732: /**
fp@1732:    SDO destructor.
fp@1732:    Clears and frees an SDO object.
fp@1732: */
fp@1732: 
fp@1732: void ec_sdo_destroy(ec_sdo_t *sdo /**< SDO */)
fp@1732: {
fp@1732:     ec_sdo_entry_t *entry, *next;
fp@1732: 
fp@1732:     // free all entries
fp@1732:     list_for_each_entry_safe(entry, next, &sdo->entries, list) {
fp@1732:         list_del(&entry->list);
fp@1732:         ec_sdo_entry_destroy(entry);
fp@1732:     }
fp@1732: 
fp@1732:     // destroy self
fp@1732:     kobject_del(&sdo->kobj);
fp@1732:     kobject_put(&sdo->kobj);
fp@1732: }
fp@1732: 
fp@1732: /*****************************************************************************/
fp@1732: 
fp@1732: /**
fp@1732:    Clear and free SDO.
fp@1732:    This method is called by the kobject,
fp@1732:    once there are no more references to it.
fp@1732: */
fp@1732: 
fp@1732: void ec_sdo_clear(struct kobject *kobj /**< SDO's kobject */)
fp@1732: {
fp@1732:     ec_sdo_t *sdo = container_of(kobj, ec_sdo_t, kobj);
fp@1732: 
fp@1732:     if (sdo->name) kfree(sdo->name);
fp@1732: 
fp@1732:     kfree(sdo);
fp@1732: }
fp@1732: 
fp@1732: /*****************************************************************************/
fp@1732: 
fp@1746: /**
fp@1746:  * Get and SDO entry from an SDO via its subindex.
fp@1746:  * \return pointer to SDO entry, or NULL.
fp@1746:  */
fp@1746: 
fp@1746: ec_sdo_entry_t *ec_sdo_get_entry(
fp@1746:         ec_sdo_t *sdo, /**< SDO */
fp@1746:         uint8_t subindex /**< entry subindex */
fp@1746:         )
fp@1746: {
fp@1746:     ec_sdo_entry_t *entry;
fp@1746: 
fp@1746:     list_for_each_entry(entry, &sdo->entries, list) {
fp@1746:         if (entry->subindex != subindex) continue;
fp@1746:         return entry;
fp@1746:     }
fp@1746: 
fp@1746:     return NULL;
fp@1746: }
fp@1746: 
fp@1746: /*****************************************************************************/
fp@1746: 
fp@1746: /**
fp@1746:  * Print SDO information to a buffer.
fp@1746:  * /return size of bytes written to buffer.
fp@1746:  */ 
fp@1746: 
fp@1732: ssize_t ec_sdo_info(ec_sdo_t *sdo, /**< SDO */
fp@1732:                     char *buffer /**< target buffer */
fp@1732:                     )
fp@1732: {
fp@1732:     off_t off = 0;
fp@1732: 
fp@1732:     off += sprintf(buffer + off, "Index: 0x%04X\n", sdo->index);
fp@1732:     off += sprintf(buffer + off, "Name: %s\n", sdo->name ? sdo->name : "");
fp@1732:     off += sprintf(buffer + off, "Subindices: %i\n", sdo->subindices);
fp@1732: 
fp@1732:     return off;
fp@1732: }
fp@1732: 
fp@1732: /*****************************************************************************/
fp@1732: 
fp@1746: /**
fp@1746:  * Show an SDO as Sysfs attribute.
fp@1746:  * /return size of bytes written to buffer.
fp@1746:  */ 
fp@1746: 
fp@1732: ssize_t ec_show_sdo_attribute(struct kobject *kobj, /**< kobject */
fp@1732:                               struct attribute *attr,
fp@1732:                               char *buffer
fp@1732:                               )
fp@1732: {
fp@1732:     ec_sdo_t *sdo = container_of(kobj, ec_sdo_t, kobj);
fp@1732: 
fp@1732:     if (attr == &attr_info) {
fp@1732:         return ec_sdo_info(sdo, buffer);
fp@1732:     }
fp@1732: 
fp@1732:     return 0;
fp@1732: }
fp@1732: 
fp@1732: /*****************************************************************************/
fp@1732: 
fp@1732: /**
fp@1732:    SDO entry constructor.
fp@1732: */
fp@1732: 
fp@1732: int ec_sdo_entry_init(ec_sdo_entry_t *entry, /**< SDO entry */
fp@1732:                       uint8_t subindex, /**< SDO entry subindex */
fp@1732:                       ec_sdo_t *sdo /**< parent SDO */
fp@1732:                       )
fp@1732: {
fp@1732:     entry->sdo = sdo;
fp@1732:     entry->subindex = subindex;
fp@1732:     entry->data_type = 0x0000;
fp@1732:     entry->bit_length = 0;
fp@1732:     entry->description = NULL;
fp@1732: 
fp@1732:     // init kobject and add it to the hierarchy
fp@1732:     memset(&entry->kobj, 0x00, sizeof(struct kobject));
fp@1732:     kobject_init(&entry->kobj);
fp@1732:     entry->kobj.ktype = &ktype_ec_sdo_entry;
fp@1732:     entry->kobj.parent = &sdo->kobj;
fp@1732:     if (kobject_set_name(&entry->kobj, "%i", entry->subindex)) {
fp@1732:         EC_ERR("Failed to set kobj name.\n");
fp@1732:         kobject_put(&entry->kobj);
fp@1732:         return -1;
fp@1732:     }
fp@1732:     if (kobject_add(&entry->kobj)) {
fp@1732:         EC_ERR("Failed to add entry kobject.\n");
fp@1732:         kobject_put(&entry->kobj);
fp@1732:         return -1;
fp@1732:     }
fp@1732: 
fp@1732:     return 0;
fp@1732: }
fp@1732: 
fp@1732: /*****************************************************************************/
fp@1732: 
fp@1732: /**
fp@1732:    SDO entry destructor.
fp@1732:    Clears and frees an SDO entry object.
fp@1732: */
fp@1732: 
fp@1732: void ec_sdo_entry_destroy(ec_sdo_entry_t *entry /**< SDO entry */)
fp@1732: {
fp@1732:     // destroy self
fp@1732:     kobject_del(&entry->kobj);
fp@1732:     kobject_put(&entry->kobj);
fp@1732: }
fp@1732: 
fp@1732: /*****************************************************************************/
fp@1732: 
fp@1732: /**
fp@1732:    Clear and free SDO entry.
fp@1732:    This method is called by the kobject,
fp@1732:    once there are no more references to it.
fp@1732: */
fp@1732: 
fp@1732: void ec_sdo_entry_clear(struct kobject *kobj /**< SDO entry's kobject */)
fp@1732: {
fp@1732:     ec_sdo_entry_t *entry = container_of(kobj, ec_sdo_entry_t, kobj);
fp@1732: 
fp@1732:     if (entry->description) kfree(entry->description);
fp@1732: 
fp@1732:     kfree(entry);
fp@1732: }
fp@1732: 
fp@1732: /*****************************************************************************/
fp@1746:  
fp@1746: /**
fp@1746:  * Print SDO entry information to a buffer.
fp@1746:  * \return number of bytes written.
fp@1746:  */
fp@1732: 
fp@1732: ssize_t ec_sdo_entry_info(ec_sdo_entry_t *entry, /**< SDO entry */
fp@1732:                           char *buffer /**< target buffer */
fp@1732:                           )
fp@1732: {
fp@1732:     off_t off = 0;
fp@1732: 
fp@1732:     off += sprintf(buffer + off, "Subindex: 0x%02X\n", entry->subindex);
fp@1732:     off += sprintf(buffer + off, "Description: %s\n",
fp@1732:                    entry->description ? entry->description : "");
fp@1732:     off += sprintf(buffer + off, "Data type: 0x%04X\n", entry->data_type);
fp@1732:     off += sprintf(buffer + off, "Bit length: %i\n", entry->bit_length);
fp@1732: 
fp@1732:     return off;
fp@1732: }
fp@1732: 
fp@1732: /*****************************************************************************/
fp@1732: 
fp@1746: /**
fp@1746:  * Format entry data based on the CANopen data type and print it to a buffer.
fp@1746:  * \return number of bytes written.
fp@1746:  */
fp@1746: 
fp@1732: ssize_t ec_sdo_entry_format_data(ec_sdo_entry_t *entry, /**< SDO entry */
fp@1732:                                  ec_sdo_request_t *request, /**< SDO request */
fp@1732:                                  char *buffer /**< target buffer */
fp@1732:                                  )
fp@1732: {
fp@1732:     off_t off = 0;
fp@1732:     unsigned int i;
fp@1732: 
fp@1744:     if (entry->data_type == 0x0002) { // int8
fp@1744:         int8_t value;
fp@1744:         if (entry->bit_length != 8)
fp@1744:             goto not_fit;
fp@1744:         value = EC_READ_S8(request->data);
fp@1744:         off += sprintf(buffer + off, "%i (0x%02X)\n", value, value);
fp@1744:     }
fp@1744:     else if (entry->data_type == 0x0003) { // int16
fp@1744:         int16_t value;
fp@1744:         if (entry->bit_length != 16)
fp@1744:             goto not_fit;
fp@1744:         value = EC_READ_S16(request->data);
fp@1744:         off += sprintf(buffer + off, "%i (0x%04X)\n", value, value);
fp@1744:     }
fp@1744:     else if (entry->data_type == 0x0004) { // int32
fp@1744:         int32_t value;
fp@1744:         if (entry->bit_length != 32)
fp@1744:             goto not_fit;
fp@1744:         value = EC_READ_S16(request->data);
fp@1744:         off += sprintf(buffer + off, "%i (0x%08X)\n", value, value);
fp@1744:     }
fp@1744:     else if (entry->data_type == 0x0005) { // uint8
fp@1744:         uint8_t value;
fp@1744:         if (entry->bit_length != 8)
fp@1744:             goto not_fit;
fp@1744:         value = EC_READ_U8(request->data);
fp@1744:         off += sprintf(buffer + off, "%u (0x%02X)\n", value, value);
fp@1744:     }
fp@1744:     else if (entry->data_type == 0x0006) { // uint16
fp@1744:         uint16_t value;
fp@1744:         if (entry->bit_length != 16)
fp@1744:             goto not_fit;
fp@1744:         value = EC_READ_U16(request->data); 
fp@1744:         off += sprintf(buffer + off, "%u (0x%04X)\n", value, value);
fp@1744:     }
fp@1744:     else if (entry->data_type == 0x0007) { // uint32
fp@1744:         uint32_t value;
fp@1744:         if (entry->bit_length != 32)
fp@1744:             goto not_fit;
fp@1744:         value = EC_READ_U32(request->data);
fp@1744:         off += sprintf(buffer + off, "%i (0x%08X)\n", value, value);
fp@1732:     }
fp@1732:     else if (entry->data_type == 0x0009) { // string
fp@1732:         off += sprintf(buffer + off, "%s\n", request->data);
fp@1732:     }
fp@1732:     else {
fp@1744:         off += sprintf(buffer + off, "Unknown data type %04X. Data:\n",
fp@1744:                 entry->data_type);
fp@1744:         goto raw_data;
fp@1744:     }
fp@1744:     return off;
fp@1744: 
fp@1744: not_fit:
fp@1744:     off += sprintf(buffer + off,
fp@1744:             "Invalid bit length %u for data type 0x%04X. Data:\n",
fp@1744:             entry->bit_length, entry->data_type);
fp@1744: raw_data:
fp@1744:     for (i = 0; i < request->size; i++)
fp@1744:         off += sprintf(buffer + off, "%02X (%c)\n",
fp@1744:                 request->data[i], request->data[i]);
fp@1732:     return off;
fp@1732: }
fp@1732: 
fp@1732: /*****************************************************************************/
fp@1732: 
fp@1746: /**
fp@1746:  * Start SDO entry reading.
fp@1746:  * This function blocks, until reading is finished, and is interruptible as
fp@1746:  * long as the master state machine has not begun with reading.
fp@1746:  * \return number of bytes written to buffer, or error code.
fp@1746:  */
fp@1746: 
fp@1732: ssize_t ec_sdo_entry_read_value(ec_sdo_entry_t *entry, /**< SDO entry */
fp@1732:                                 char *buffer /**< target buffer */
fp@1732:                                 )
fp@1732: {
fp@1746:     ec_master_t *master = entry->sdo->slave->master;
fp@1732:     off_t off = 0;
fp@1732:     ec_sdo_request_t request;
fp@1732: 
fp@1746:     ec_sdo_request_init_read(&request, entry);
fp@1744: 
fp@1744:     // schedule request.
fp@1744:     down(&master->sdo_sem);
fp@1744:     list_add_tail(&request.list, &master->sdo_requests);
fp@1744:     up(&master->sdo_sem);
fp@1744: 
fp@1744:     // wait for processing through FSM
fp@1744:     if (wait_event_interruptible(master->sdo_queue,
fp@1744:                 request.state != EC_REQUEST_QUEUED)) {
fp@1732:         // interrupted by signal
fp@1744:         down(&master->sdo_sem);
fp@1744:         if (request.state == EC_REQUEST_QUEUED) {
fp@1744:             list_del(&request.list);
fp@1744:             up(&master->sdo_sem);
fp@1744:             return -EINTR;
fp@1744:         }
fp@1744:         // request already processing: interrupt not possible.
fp@1744:         up(&master->sdo_sem);
fp@1744:     }
fp@1744: 
fp@1744:     // wait until master FSM has finished processing
fp@1744:     wait_event(master->sdo_queue, request.state != EC_REQUEST_IN_PROGRESS);
fp@1744: 
fp@1744:     if (request.state != EC_REQUEST_COMPLETE)
fp@1744:         return -EIO;
fp@1744: 
fp@1744:     off += ec_sdo_entry_format_data(entry, &request, buffer);
fp@1732: 
fp@1732:     ec_sdo_request_clear(&request);
fp@1732:     return off;
fp@1732: }
fp@1732: 
fp@1732: /*****************************************************************************/
fp@1732: 
fp@1746: /**
fp@1746:  * Show an SDO entry as Sysfs attribute.
fp@1746:  * /return size of bytes written to buffer.
fp@1746:  */ 
fp@1746: 
fp@1732: ssize_t ec_show_sdo_entry_attribute(struct kobject *kobj, /**< kobject */
fp@1732:                                     struct attribute *attr,
fp@1732:                                     char *buffer
fp@1732:                                     )
fp@1732: {
fp@1732:     ec_sdo_entry_t *entry = container_of(kobj, ec_sdo_entry_t, kobj);
fp@1732: 
fp@1732:     if (attr == &attr_info) {
fp@1732:         return ec_sdo_entry_info(entry, buffer);
fp@1732:     }
fp@1732:     else if (attr == &attr_value) {
fp@1732:         return ec_sdo_entry_read_value(entry, buffer);
fp@1732:     }
fp@1732: 
fp@1732:     return 0;
fp@1732: }
fp@1732: 
fp@1732: /*****************************************************************************/
fp@1732: 
fp@1732: /**
fp@1732:    SDO request constructor.
fp@1732: */
fp@1732: 
fp@1732: void ec_sdo_request_init_read(ec_sdo_request_t *req, /**< SDO request */
fp@1732:                               ec_sdo_entry_t *entry /**< SDO entry */
fp@1732:                               )
fp@1732: {
fp@1732:     req->entry = entry;
fp@1732:     req->data = NULL;
fp@1732:     req->size = 0;
fp@1744:     req->state = EC_REQUEST_QUEUED;
fp@1732: }
fp@1732: 
fp@1732: /*****************************************************************************/
fp@1732: 
fp@1732: /**
fp@1732:    SDO request destructor.
fp@1732: */
fp@1732: 
fp@1732: void ec_sdo_request_clear(ec_sdo_request_t *req /**< SDO request */)
fp@1732: {
fp@1732:     if (req->data) kfree(req->data);
fp@1732: }
fp@1732: 
fp@1732: /*****************************************************************************/