fp@39: /******************************************************************************
fp@0:  *
fp@39:  *  $Id$
fp@0:  *
fp@197:  *  Copyright (C) 2006  Florian Pose, Ingenieurgemeinschaft IgH
fp@197:  *
fp@197:  *  This file is part of the IgH EtherCAT Master.
fp@197:  *
fp@197:  *  The IgH EtherCAT Master is free software; you can redistribute it
fp@197:  *  and/or modify it under the terms of the GNU General Public License
fp@246:  *  as published by the Free Software Foundation; either version 2 of the
fp@246:  *  License, or (at your option) any later version.
fp@197:  *
fp@197:  *  The IgH EtherCAT Master is distributed in the hope that it will be
fp@197:  *  useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
fp@197:  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
fp@197:  *  GNU General Public License for more details.
fp@197:  *
fp@197:  *  You should have received a copy of the GNU General Public License
fp@197:  *  along with the IgH EtherCAT Master; if not, write to the Free Software
fp@197:  *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
fp@197:  *
fp@246:  *  The right to use EtherCAT Technology is granted and comes free of
fp@246:  *  charge under condition of compatibility of product made by
fp@246:  *  Licensee. People intending to distribute/sell products based on the
fp@246:  *  code, have to sign an agreement to guarantee that products using
fp@246:  *  software based on IgH EtherCAT master stay compatible with the actual
fp@246:  *  EtherCAT specification (which are released themselves as an open
fp@246:  *  standard) as the (only) precondition to have the right to use EtherCAT
fp@246:  *  Technology, IP and trade marks.
fp@246:  *
fp@39:  *****************************************************************************/
fp@0: 
fp@199: /**
fp@199:    \file
fp@199:    EtherCAT slave methods.
fp@199: */
fp@199: 
fp@199: /*****************************************************************************/
fp@199: 
fp@24: #include <linux/module.h>
fp@73: #include <linux/delay.h>
fp@0: 
fp@54: #include "globals.h"
fp@54: #include "slave.h"
fp@293: #include "datagram.h"
fp@98: #include "master.h"
fp@0: 
fp@39: /*****************************************************************************/
fp@0: 
fp@251: extern const ec_code_msg_t al_status_messages[];
fp@251: 
fp@251: /*****************************************************************************/
fp@251: 
fp@404: void ec_slave_clear(struct kobject *);
fp@482: void ec_slave_sdos_clear(struct kobject *);
fp@182: ssize_t ec_show_slave_attribute(struct kobject *, struct attribute *, char *);
fp@256: ssize_t ec_store_slave_attribute(struct kobject *, struct attribute *,
fp@256:                                  const char *, size_t);
fp@624: char *ec_slave_sii_string(ec_slave_t *, unsigned int);
fp@182: 
fp@182: /*****************************************************************************/
fp@182: 
fp@199: /** \cond */
fp@199: 
fp@325: EC_SYSFS_READ_ATTR(info);
fp@256: EC_SYSFS_READ_WRITE_ATTR(state);
fp@269: EC_SYSFS_READ_WRITE_ATTR(eeprom);
fp@607: EC_SYSFS_READ_WRITE_ATTR(alias);
fp@182: 
fp@182: static struct attribute *def_attrs[] = {
fp@325:     &attr_info,
fp@256:     &attr_state,
fp@266:     &attr_eeprom,
fp@607:     &attr_alias,
fp@182:     NULL,
fp@182: };
fp@182: 
fp@182: static struct sysfs_ops sysfs_ops = {
fp@256:     .show = ec_show_slave_attribute,
fp@256:     .store = ec_store_slave_attribute
fp@182: };
fp@182: 
fp@182: static struct kobj_type ktype_ec_slave = {
fp@182:     .release = ec_slave_clear,
fp@182:     .sysfs_ops = &sysfs_ops,
fp@182:     .default_attrs = def_attrs
fp@182: };
fp@118: 
fp@482: static struct kobj_type ktype_ec_slave_sdos = {
fp@482:     .release = ec_slave_sdos_clear
fp@482: };
fp@419: 
fp@199: /** \endcond */
fp@199: 
fp@118: /*****************************************************************************/
fp@118: 
fp@0: /**
fp@195:    Slave constructor.
fp@195:    \return 0 in case of success, else < 0
fp@195: */
fp@195: 
fp@195: int ec_slave_init(ec_slave_t *slave, /**< EtherCAT slave */
fp@195:                   ec_master_t *master, /**< EtherCAT master */
fp@195:                   uint16_t ring_position, /**< ring position */
fp@195:                   uint16_t station_address /**< station address to configure */
fp@182:                   )
fp@73: {
fp@142:     unsigned int i;
fp@142: 
fp@182:     slave->ring_position = ring_position;
fp@182:     slave->station_address = station_address;
fp@182: 
fp@73:     slave->master = master;
fp@325: 
fp@656:     slave->requested_state = EC_SLAVE_STATE_PREOP;
fp@325:     slave->current_state = EC_SLAVE_STATE_UNKNOWN;
fp@523:     slave->self_configured = 0;
fp@325:     slave->error_flag = 0;
fp@610:     slave->online_state = EC_SLAVE_ONLINE;
fp@325:     slave->fmmu_count = 0;
fp@612:     slave->pdos_registered = 0;
fp@325: 
fp@73:     slave->base_type = 0;
fp@73:     slave->base_revision = 0;
fp@73:     slave->base_build = 0;
fp@73:     slave->base_fmmu_count = 0;
fp@325: 
fp@325:     slave->eeprom_data = NULL;
fp@325:     slave->eeprom_size = 0;
fp@325: 
fp@114:     slave->sii_alias = 0;
fp@73:     slave->sii_vendor_id = 0;
fp@73:     slave->sii_product_code = 0;
fp@73:     slave->sii_revision_number = 0;
fp@73:     slave->sii_serial_number = 0;
fp@136:     slave->sii_rx_mailbox_offset = 0;
fp@136:     slave->sii_rx_mailbox_size = 0;
fp@136:     slave->sii_tx_mailbox_offset = 0;
fp@136:     slave->sii_tx_mailbox_size = 0;
fp@133:     slave->sii_mailbox_protocols = 0;
fp@325:     slave->sii_group = NULL;
fp@325:     slave->sii_image = NULL;
fp@325:     slave->sii_order = NULL;
fp@325:     slave->sii_name = NULL;
fp@499:     slave->sii_current_on_ebus = 0;
fp@325: 
fp@624:     slave->sii_strings = NULL;
fp@624:     slave->sii_string_count = 0;
fp@618:     slave->sii_syncs = NULL;
fp@618:     slave->sii_sync_count = 0;
fp@325:     INIT_LIST_HEAD(&slave->sii_pdos);
fp@135:     INIT_LIST_HEAD(&slave->sdo_dictionary);
fp@329:     INIT_LIST_HEAD(&slave->sdo_confs);
fp@145: 
fp@419:     slave->sdo_dictionary_fetched = 0;
fp@741:     slave->pdo_mapping_fetched = 0;
fp@419:     slave->jiffies_preop = 0;
fp@419: 
fp@183:     for (i = 0; i < 4; i++) {
fp@183:         slave->dl_link[i] = 0;
fp@183:         slave->dl_loop[i] = 0;
fp@183:         slave->dl_signal[i] = 0;
fp@190:         slave->sii_physical_layer[i] = 0xFF;
fp@145:     }
fp@182: 
fp@484:     // init kobject and add it to the hierarchy
fp@484:     memset(&slave->kobj, 0x00, sizeof(struct kobject));
fp@484:     kobject_init(&slave->kobj);
fp@484:     slave->kobj.ktype = &ktype_ec_slave;
fp@484:     slave->kobj.parent = &master->kobj;
fp@484:     if (kobject_set_name(&slave->kobj, "slave%03i", slave->ring_position)) {
fp@484:         EC_ERR("Failed to set kobject name.\n");
fp@484:         goto out_slave_put;
fp@484:     }
fp@484:     if (kobject_add(&slave->kobj)) {
fp@484:         EC_ERR("Failed to add slave's kobject.\n");
fp@484:         goto out_slave_put;
fp@484:     }
fp@484: 
fp@484:     // init SDO kobject and add it to the hierarchy
fp@484:     memset(&slave->sdo_kobj, 0x00, sizeof(struct kobject));
fp@484:     kobject_init(&slave->sdo_kobj);
fp@484:     slave->sdo_kobj.ktype = &ktype_ec_slave_sdos;
fp@484:     slave->sdo_kobj.parent = &slave->kobj;
fp@484:     if (kobject_set_name(&slave->sdo_kobj, "sdos")) {
fp@484:         EC_ERR("Failed to set kobject name.\n");
fp@484:         goto out_sdo_put;
fp@484:     }
fp@484:     if (kobject_add(&slave->sdo_kobj)) {
fp@484:         EC_ERR("Failed to add SDOs kobject.\n");
fp@484:         goto out_sdo_put;
fp@484:     }
fp@484: 
fp@182:     return 0;
fp@484: 
fp@484:  out_sdo_put:
fp@484:     kobject_put(&slave->sdo_kobj);
fp@484:     kobject_del(&slave->kobj);
fp@484:  out_slave_put:
fp@484:     kobject_put(&slave->kobj);
fp@484:     return -1;
fp@73: }
fp@73: 
fp@73: /*****************************************************************************/
fp@73: 
fp@73: /**
fp@195:    Slave destructor.
fp@448:    Clears and frees a slave object.
fp@448: */
fp@448: 
fp@448: void ec_slave_destroy(ec_slave_t *slave /**< EtherCAT slave */)
fp@448: {
fp@448:     ec_sdo_t *sdo, *next_sdo;
fp@448: 
fp@448:     // free all SDOs
fp@448:     list_for_each_entry_safe(sdo, next_sdo, &slave->sdo_dictionary, list) {
fp@448:         list_del(&sdo->list);
fp@448:         ec_sdo_destroy(sdo);
fp@448:     }
fp@448: 
fp@448:     // free SDO kobject
fp@484:     kobject_del(&slave->sdo_kobj);
fp@448:     kobject_put(&slave->sdo_kobj);
fp@448: 
fp@448:     // destroy self
fp@448:     kobject_del(&slave->kobj);
fp@448:     kobject_put(&slave->kobj);
fp@448: }
fp@448: 
fp@448: /*****************************************************************************/
fp@448: 
fp@448: /**
fp@448:    Clear and free slave.
fp@448:    This method is called by the kobject,
fp@448:    once there are no more references to it.
fp@195: */
fp@195: 
fp@195: void ec_slave_clear(struct kobject *kobj /**< kobject of the slave */)
fp@182: {
fp@182:     ec_slave_t *slave;
fp@625:     ec_pdo_t *pdo, *next_pdo;
fp@329:     ec_sdo_data_t *sdodata, *next_sdodata;
fp@624:     unsigned int i;
fp@118: 
fp@182:     slave = container_of(kobj, ec_slave_t, kobj);
fp@182: 
fp@624:     // free all strings
fp@624:     if (slave->sii_strings) {
fp@624:         for (i = 0; i < slave->sii_string_count; i++)
fp@624:             kfree(slave->sii_strings[i]);
fp@624:         kfree(slave->sii_strings);
fp@118:     }
fp@121: 
fp@195:     // free all sync managers
fp@628:     if (slave->sii_syncs) {
fp@628:         for (i = 0; i < slave->sii_sync_count; i++) {
fp@628:             ec_sync_clear(&slave->sii_syncs[i]);
fp@628:         }
fp@628:         kfree(slave->sii_syncs);
fp@628:     }
fp@126: 
fp@635:     // free all SII PDOs
fp@325:     list_for_each_entry_safe(pdo, next_pdo, &slave->sii_pdos, list) {
fp@126:         list_del(&pdo->list);
fp@627:         ec_pdo_clear(pdo);
fp@126:         kfree(pdo);
fp@126:     }
fp@126: 
fp@329:     // free all SDO configurations
fp@329:     list_for_each_entry_safe(sdodata, next_sdodata, &slave->sdo_confs, list) {
fp@329:         list_del(&sdodata->list);
fp@329:         kfree(sdodata->data);
fp@329:         kfree(sdodata);
fp@329:     }
fp@329: 
fp@266:     if (slave->eeprom_data) kfree(slave->eeprom_data);
fp@418: 
fp@418:     kfree(slave);
fp@121: }
fp@121: 
fp@121: /*****************************************************************************/
fp@121: 
fp@121: /**
fp@482: */
fp@482: 
fp@482: void ec_slave_sdos_clear(struct kobject *kobj /**< kobject for SDOs */)
fp@482: {
fp@482: }
fp@482: 
fp@482: /*****************************************************************************/
fp@482: 
fp@482: /**
fp@446:    Reset slave from operation mode.
fp@446: */
fp@446: 
fp@446: void ec_slave_reset(ec_slave_t *slave /**< EtherCAT slave */)
fp@446: {
fp@465:     ec_sdo_data_t *sdodata, *next_sdodata;
fp@618:     unsigned int i;
fp@465: 
fp@446:     slave->fmmu_count = 0;
fp@612:     slave->pdos_registered = 0;
fp@465: 
fp@465:     // free all SDO configurations
fp@465:     list_for_each_entry_safe(sdodata, next_sdodata, &slave->sdo_confs, list) {
fp@465:         list_del(&sdodata->list);
fp@465:         kfree(sdodata->data);
fp@465:         kfree(sdodata);
fp@465:     }
fp@467: 
fp@467:     // remove estimated sync manager sizes
fp@618:     for (i = 0; i < slave->sii_sync_count; i++) {
fp@618:         slave->sii_syncs[i].est_length = 0;
fp@467:     }
fp@446: }
fp@446: 
fp@446: /*****************************************************************************/
fp@446: 
fp@446: /**
fp@610:  * Sets the application state of a slave.
fp@610:  */
fp@610: 
fp@610: void ec_slave_set_state(ec_slave_t *slave, /**< EtherCAT slave */
fp@610:         ec_slave_state_t new_state /**< new application state */
fp@610:         )
fp@610: {
fp@610:     if (new_state != slave->current_state) {
fp@610:         if (slave->master->debug_level) {
fp@610:             char old_state[EC_STATE_STRING_SIZE],
fp@610:                 cur_state[EC_STATE_STRING_SIZE];
fp@610:             ec_state_string(slave->current_state, old_state);
fp@610:             ec_state_string(new_state, cur_state);
fp@610:             EC_DBG("Slave %i: %s -> %s.\n",
fp@610:                    slave->ring_position, old_state, cur_state);
fp@610:         }
fp@610:         slave->current_state = new_state;
fp@610:     }
fp@610: }
fp@610: 
fp@610: /*****************************************************************************/
fp@610: 
fp@610: /**
fp@610:  * Sets the online state of a slave.
fp@610:  */
fp@610: 
fp@610: void ec_slave_set_online_state(ec_slave_t *slave, /**< EtherCAT slave */
fp@610:         ec_slave_online_state_t new_state /**< new online state */
fp@610:         )
fp@610: {
fp@610:     if (new_state == EC_SLAVE_OFFLINE &&
fp@610:             slave->online_state == EC_SLAVE_ONLINE) {
fp@612:         if (slave->pdos_registered)
fp@612:             slave->master->pdo_slaves_offline++;
fp@610:         if (slave->master->debug_level)
fp@610:             EC_DBG("Slave %i: offline.\n", slave->ring_position);
fp@610:     }
fp@610:     else if (new_state == EC_SLAVE_ONLINE &&
fp@610:             slave->online_state == EC_SLAVE_OFFLINE) {
fp@610:         slave->error_flag = 0; // clear error flag
fp@612:         if (slave->pdos_registered)
fp@612:             slave->master->pdo_slaves_offline--;
fp@610:         if (slave->master->debug_level) {
fp@610:             char cur_state[EC_STATE_STRING_SIZE];
fp@610:             ec_state_string(slave->current_state, cur_state);
fp@610:             EC_DBG("Slave %i: online (%s).\n",
fp@610:                    slave->ring_position, cur_state);
fp@610:         }
fp@610:     }
fp@610: 
fp@610:     slave->online_state = new_state;
fp@610: }
fp@610: 
fp@610: /*****************************************************************************/
fp@610: 
fp@610: /**
fp@446:  */
fp@446: 
fp@635: void ec_slave_request_state(ec_slave_t *slave, /**< EtherCAT slave */
fp@446:                             ec_slave_state_t state /**< new state */
fp@446:                             )
fp@446: {
fp@446:     slave->requested_state = state;
fp@446:     slave->error_flag = 0;
fp@446: }
fp@446: 
fp@446: /*****************************************************************************/
fp@446: 
fp@446: /**
fp@195:    Fetches data from a STRING category.
fp@195:    \return 0 in case of success, else < 0
fp@195: */
fp@195: 
fp@620: int ec_slave_fetch_sii_strings(
fp@620:         ec_slave_t *slave, /**< EtherCAT slave */
fp@620:         const uint8_t *data /**< category data */
fp@620:         )
fp@118: {
fp@624:     int i;
fp@118:     size_t size;
fp@118:     off_t offset;
fp@624: 
fp@624:     slave->sii_string_count = data[0];
fp@624: 
fp@624:     if (!slave->sii_string_count)
fp@624:         return 0;
fp@624: 
fp@624:     if (!(slave->sii_strings =
fp@624:                 kmalloc(sizeof(char *) * slave->sii_string_count,
fp@624:                     GFP_KERNEL))) {
fp@624:         EC_ERR("Failed to allocate string array memory.\n");
fp@624:         goto out_zero;
fp@624:     }
fp@624: 
fp@118:     offset = 1;
fp@624:     for (i = 0; i < slave->sii_string_count; i++) {
fp@118:         size = data[offset];
fp@195:         // allocate memory for string structure and data at a single blow
fp@624:         if (!(slave->sii_strings[i] =
fp@624:                     kmalloc(sizeof(char) * size + 1, GFP_KERNEL))) {
fp@118:             EC_ERR("Failed to allocate string memory.\n");
fp@624:             goto out_free;
fp@624:         }
fp@624:         memcpy(slave->sii_strings[i], data + offset + 1, size);
fp@624:         slave->sii_strings[i][size] = 0x00; // append binary zero
fp@118:         offset += 1 + size;
fp@118:     }
fp@118: 
fp@118:     return 0;
fp@624: 
fp@624: out_free:
fp@624:     for (i--; i >= 0; i--) kfree(slave->sii_strings[i]);
fp@624:     kfree(slave->sii_strings);
fp@624:     slave->sii_strings = NULL;
fp@624: out_zero:
fp@624:     slave->sii_string_count = 0;
fp@624:     return -1;
fp@118: }
fp@118: 
fp@118: /*****************************************************************************/
fp@118: 
fp@118: /**
fp@195:    Fetches data from a GENERAL category.
fp@195:    \return 0 in case of success, else < 0
fp@195: */
fp@195: 
fp@620: void ec_slave_fetch_sii_general(
fp@620:         ec_slave_t *slave, /**< EtherCAT slave */
fp@620:         const uint8_t *data /**< category data */
fp@620:         )
fp@123: {
fp@190:     unsigned int i;
fp@190: 
fp@624:     slave->sii_group = ec_slave_sii_string(slave, data[0]);
fp@624:     slave->sii_image = ec_slave_sii_string(slave, data[1]);
fp@624:     slave->sii_order = ec_slave_sii_string(slave, data[2]);
fp@624:     slave->sii_name = ec_slave_sii_string(slave, data[3]);
fp@123: 
fp@190:     for (i = 0; i < 4; i++)
fp@195:         slave->sii_physical_layer[i] =
fp@195:             (data[4] & (0x03 << (i * 2))) >> (i * 2);
fp@499: 
fp@499:     slave->sii_current_on_ebus = EC_READ_S16(data + 0x0C);
fp@118: }
fp@118: 
fp@118: /*****************************************************************************/
fp@118: 
fp@118: /**
fp@195:    Fetches data from a SYNC MANAGER category.
fp@195:    \return 0 in case of success, else < 0
fp@195: */
fp@195: 
fp@620: int ec_slave_fetch_sii_syncs(
fp@620:         ec_slave_t *slave, /**< EtherCAT slave */
fp@620:         const uint8_t *data, /**< category data */
fp@620:         size_t word_count /**< number of words */
fp@620:         )
fp@126: {
fp@618:     unsigned int i;
fp@626:     ec_sync_t *sync;
fp@126: 
fp@618:     // sync manager struct is 4 words long
fp@618:     slave->sii_sync_count = word_count / 4;
fp@618: 
fp@628:     if (!(slave->sii_syncs =
fp@628:                 kmalloc(sizeof(ec_sync_t) * slave->sii_sync_count,
fp@628:                     GFP_KERNEL))) {
fp@628:         EC_ERR("Failed to allocate memory for sync managers.\n");
fp@628:         slave->sii_sync_count = 0;
fp@618:         return -1;
fp@618:     }
fp@618:     
fp@618:     for (i = 0; i < slave->sii_sync_count; i++, data += 8) {
fp@618:         sync = &slave->sii_syncs[i];
fp@618: 
fp@628:         ec_sync_init(sync, slave, i);
fp@325:         sync->physical_start_address = EC_READ_U16(data);
fp@628:         sync->length = EC_READ_U16(data + 2);
fp@628:         sync->control_register = EC_READ_U8 (data + 4);
fp@628:         sync->enable = EC_READ_U8 (data + 6);
fp@126:     }
fp@126: 
fp@126:     return 0;
fp@118: }
fp@118: 
fp@118: /*****************************************************************************/
fp@118: 
fp@118: /**
fp@195:    Fetches data from a [RT]XPDO category.
fp@195:    \return 0 in case of success, else < 0
fp@195: */
fp@195: 
fp@620: int ec_slave_fetch_sii_pdos(
fp@620:         ec_slave_t *slave, /**< EtherCAT slave */
fp@620:         const uint8_t *data, /**< category data */
fp@620:         size_t word_count, /**< number of words */
fp@625:         ec_pdo_type_t pdo_type /**< PDO type */
fp@620:         )
fp@126: {
fp@625:     ec_pdo_t *pdo;
fp@625:     ec_pdo_entry_t *entry;
fp@126:     unsigned int entry_count, i;
fp@126: 
fp@126:     while (word_count >= 4) {
fp@625:         if (!(pdo = kmalloc(sizeof(ec_pdo_t), GFP_KERNEL))) {
fp@126:             EC_ERR("Failed to allocate PDO memory.\n");
fp@126:             return -1;
fp@126:         }
fp@126: 
fp@627:         ec_pdo_init(pdo);
fp@126:         pdo->type = pdo_type;
fp@325:         pdo->index = EC_READ_U16(data);
fp@325:         entry_count = EC_READ_U8(data + 2);
fp@325:         pdo->sync_index = EC_READ_U8(data + 3);
fp@624:         pdo->name = ec_slave_sii_string(slave, EC_READ_U8(data + 5));
fp@325:         list_add_tail(&pdo->list, &slave->sii_pdos);
fp@126: 
fp@126:         word_count -= 4;
fp@126:         data += 8;
fp@126: 
fp@126:         for (i = 0; i < entry_count; i++) {
fp@625:             if (!(entry = kmalloc(sizeof(ec_pdo_entry_t), GFP_KERNEL))) {
fp@126:                 EC_ERR("Failed to allocate PDO entry memory.\n");
fp@126:                 return -1;
fp@126:             }
fp@126: 
fp@325:             entry->index = EC_READ_U16(data);
fp@325:             entry->subindex = EC_READ_U8(data + 2);
fp@624:             entry->name = ec_slave_sii_string(slave, EC_READ_U8(data + 3));
fp@325:             entry->bit_length = EC_READ_U8(data + 5);
fp@126:             list_add_tail(&entry->list, &pdo->entries);
fp@126: 
fp@126:             word_count -= 4;
fp@126:             data += 8;
fp@126:         }
fp@635: 
fp@635:         // if sync manager index is positive, the PDO is mapped by default
fp@635:         if (pdo->sync_index >= 0) {
fp@635:             ec_pdo_t *mapped_pdo;
fp@635: 
fp@635:             if (pdo->sync_index >= slave->sii_sync_count) {
fp@635:                 EC_ERR("Invalid SM index %i for PDO 0x%04X in slave %u.",
fp@635:                         pdo->sync_index, pdo->index, slave->ring_position);
fp@635:                 return -1;
fp@635:             }
fp@635: 
fp@635:             if (!(mapped_pdo = kmalloc(sizeof(ec_pdo_t), GFP_KERNEL))) {
fp@635:                 EC_ERR("Failed to allocate PDO memory.\n");
fp@635:                 return -1;
fp@635:             }
fp@635: 
fp@635:             if (ec_pdo_copy(mapped_pdo, pdo)) {
fp@635:                 EC_ERR("Failed to copy PDO.\n");
fp@635:                 kfree(mapped_pdo);
fp@635:                 return -1;
fp@635:             }
fp@635: 
fp@635:             list_add_tail(&mapped_pdo->list,
fp@635:                     &slave->sii_syncs[pdo->sync_index].pdos);
fp@635:         }
fp@126:     }
fp@126: 
fp@126:     return 0;
fp@114: }
fp@114: 
fp@114: /*****************************************************************************/
fp@114: 
fp@114: /**
fp@195:    Searches the string list for an index and allocates a new string.
fp@195:    \return 0 in case of success, else < 0
fp@197:    \todo documentation
fp@197: */
fp@197: 
fp@624: char *ec_slave_sii_string(
fp@620:         ec_slave_t *slave, /**< EtherCAT slave */
fp@624:         unsigned int index /**< string index */
fp@620:         )
fp@123: {
fp@624:     if (!index--) 
fp@624:         return NULL;
fp@624: 
fp@624:     if (index >= slave->sii_string_count) {
fp@624:         if (slave->master->debug_level)
fp@624:             EC_WARN("String %i not found in slave %i.\n",
fp@624:                     index, slave->ring_position);
fp@624:         return NULL;
fp@624:     }
fp@624: 
fp@624:     return slave->sii_strings[index];
fp@123: }
fp@123: 
fp@123: /*****************************************************************************/
fp@123: 
fp@123: /**
fp@630:  * Prepares an FMMU configuration.
fp@630:  * Configuration data for the FMMU is saved in the slave structure and is
fp@630:  * written to the slave in ecrt_master_activate().
fp@630:  * The FMMU configuration is done in a way, that the complete data range
fp@630:  * of the corresponding sync manager is covered. Seperate FMMUs are configured
fp@630:  * for each domain.
fp@630:  * If the FMMU configuration is already prepared, the function returns with
fp@630:  * success.
fp@630:  * \return 0 in case of success, else < 0
fp@630:  */
fp@630: 
fp@630: int ec_slave_prepare_fmmu(
fp@630:         ec_slave_t *slave, /**< EtherCAT slave */
fp@630:         const ec_domain_t *domain, /**< domain */
fp@630:         const ec_sync_t *sync  /**< sync manager */
fp@630:         )
fp@73: {
fp@73:     unsigned int i;
fp@412:     ec_fmmu_t *fmmu;
fp@73: 
fp@195:     // FMMU configuration already prepared?
fp@412:     for (i = 0; i < slave->fmmu_count; i++) {
fp@412:         fmmu = &slave->fmmus[i];
fp@412:         if (fmmu->domain == domain && fmmu->sync == sync)
fp@73:             return 0;
fp@412:     }
fp@73: 
fp@195:     // reserve new FMMU...
fp@91: 
fp@73:     if (slave->fmmu_count >= slave->base_fmmu_count) {
fp@84:         EC_ERR("Slave %i FMMU limit reached!\n", slave->ring_position);
fp@73:         return -1;
fp@73:     }
fp@73: 
fp@412:     fmmu = &slave->fmmus[slave->fmmu_count];
fp@412: 
fp@630:     ec_fmmu_init(fmmu, slave, slave->fmmu_count++);
fp@412:     fmmu->domain = domain;
fp@412:     fmmu->sync = sync;
fp@412:     fmmu->logical_start_address = 0;
fp@412: 
fp@612:     slave->pdos_registered = 1;
fp@609:     
fp@609:     ec_slave_request_state(slave, EC_SLAVE_STATE_OP);
fp@73: 
fp@73:     return 0;
fp@73: }
fp@73: 
fp@73: /*****************************************************************************/
fp@73: 
fp@73: /**
fp@195:    Outputs all information about a certain slave.
fp@325: */
fp@325: 
fp@325: size_t ec_slave_info(const ec_slave_t *slave, /**< EtherCAT slave */
fp@325:                      char *buffer /**< Output buffer */
fp@325:                      )
fp@325: {
fp@325:     off_t off = 0;
fp@626:     ec_sync_t *sync;
fp@625:     ec_pdo_t *pdo;
fp@625:     ec_pdo_entry_t *pdo_entry;
fp@142:     int first, i;
fp@464:     ec_sdo_data_t *sdodata;
fp@464:     char str[20];
fp@126: 
fp@325:     off += sprintf(buffer + off, "\nName: ");
fp@325: 
fp@325:     if (slave->sii_name)
fp@325:         off += sprintf(buffer + off, "%s", slave->sii_name);
fp@325: 
fp@339:     off += sprintf(buffer + off, "\nVendor ID: 0x%08X\n",
fp@325:                    slave->sii_vendor_id);
fp@325:     off += sprintf(buffer + off, "Product code: 0x%08X\n\n",
fp@325:                    slave->sii_product_code);
fp@325: 
fp@339:     off += sprintf(buffer + off, "State: ");
fp@339:     off += ec_state_string(slave->current_state, buffer + off);
fp@519:     off += sprintf(buffer + off, " (");
fp@519:     off += ec_state_string(slave->requested_state, buffer + off);
fp@519:     off += sprintf(buffer + off, ")\nFlags: %s, %s\n",
fp@610:             slave->online_state == EC_SLAVE_ONLINE ? "online" : "OFFLINE",
fp@610:             slave->error_flag ? "ERROR" : "ok");
fp@458:     off += sprintf(buffer + off, "Ring position: %i\n",
fp@339:                    slave->ring_position);
fp@499:     off += sprintf(buffer + off, "Current consumption: %i mA\n\n",
fp@499:                    slave->sii_current_on_ebus);
fp@325: 
fp@325:     off += sprintf(buffer + off, "Data link status:\n");
fp@183:     for (i = 0; i < 4; i++) {
fp@325:         off += sprintf(buffer + off, "  Port %i (", i);
fp@190:         switch (slave->sii_physical_layer[i]) {
fp@190:             case 0x00:
fp@325:                 off += sprintf(buffer + off, "EBUS");
fp@190:                 break;
fp@190:             case 0x01:
fp@325:                 off += sprintf(buffer + off, "100BASE-TX");
fp@190:                 break;
fp@190:             case 0x02:
fp@325:                 off += sprintf(buffer + off, "100BASE-FX");
fp@190:                 break;
fp@190:             default:
fp@325:                 off += sprintf(buffer + off, "unknown (%i)",
fp@325:                                slave->sii_physical_layer[i]);
fp@325:         }
fp@325:         off += sprintf(buffer + off, ") Link %s, Loop %s, %s\n",
fp@325:                        slave->dl_link[i] ? "up" : "down",
fp@325:                        slave->dl_loop[i] ? "closed" : "open",
fp@325:                        slave->dl_signal[i] ? "Signal detected" : "No signal");
fp@325:     }
fp@147: 
fp@147:     if (slave->sii_mailbox_protocols) {
fp@325:         off += sprintf(buffer + off, "\nMailboxes:\n");
fp@325:         off += sprintf(buffer + off, "  RX mailbox: 0x%04X/%i,"
fp@325:                        " TX mailbox: 0x%04X/%i\n",
fp@325:                        slave->sii_rx_mailbox_offset,
fp@325:                        slave->sii_rx_mailbox_size,
fp@325:                        slave->sii_tx_mailbox_offset,
fp@325:                        slave->sii_tx_mailbox_size);
fp@325:         off += sprintf(buffer + off, "  Supported protocols: ");
fp@147: 
fp@147:         first = 1;
fp@147:         if (slave->sii_mailbox_protocols & EC_MBOX_AOE) {
fp@325:             off += sprintf(buffer + off, "AoE");
fp@147:             first = 0;
fp@147:         }
fp@147:         if (slave->sii_mailbox_protocols & EC_MBOX_EOE) {
fp@325:             if (!first) off += sprintf(buffer + off, ", ");
fp@325:             off += sprintf(buffer + off, "EoE");
fp@147:             first = 0;
fp@147:         }
fp@147:         if (slave->sii_mailbox_protocols & EC_MBOX_COE) {
fp@325:             if (!first) off += sprintf(buffer + off, ", ");
fp@325:             off += sprintf(buffer + off, "CoE");
fp@147:             first = 0;
fp@147:         }
fp@147:         if (slave->sii_mailbox_protocols & EC_MBOX_FOE) {
fp@325:             if (!first) off += sprintf(buffer + off, ", ");
fp@325:             off += sprintf(buffer + off, "FoE");
fp@147:             first = 0;
fp@147:         }
fp@147:         if (slave->sii_mailbox_protocols & EC_MBOX_SOE) {
fp@325:             if (!first) off += sprintf(buffer + off, ", ");
fp@325:             off += sprintf(buffer + off, "SoE");
fp@147:             first = 0;
fp@147:         }
fp@147:         if (slave->sii_mailbox_protocols & EC_MBOX_VOE) {
fp@325:             if (!first) off += sprintf(buffer + off, ", ");
fp@325:             off += sprintf(buffer + off, "VoE");
fp@325:         }
fp@325:         off += sprintf(buffer + off, "\n");
fp@325:     }
fp@325: 
fp@325:     if (slave->sii_alias || slave->sii_group
fp@325:         || slave->sii_image || slave->sii_order)
fp@325:         off += sprintf(buffer + off, "\nSII data:\n");
fp@266: 
fp@147:     if (slave->sii_alias)
fp@325:         off += sprintf(buffer + off, "  Configured station alias:"
fp@325:                        " 0x%04X (%i)\n", slave->sii_alias, slave->sii_alias);
fp@325:     if (slave->sii_group)
fp@325:         off += sprintf(buffer + off, "  Group: %s\n", slave->sii_group);
fp@325:     if (slave->sii_image)
fp@325:         off += sprintf(buffer + off, "  Image: %s\n", slave->sii_image);
fp@325:     if (slave->sii_order)
fp@339:         off += sprintf(buffer + off, "  Order number: %s\n", slave->sii_order);
fp@325: 
fp@618:     if (slave->sii_sync_count)
fp@635:         off += sprintf(buffer + off, "\nSync managers / PDO mapping:\n");
fp@325: 
fp@618:     for (i = 0; i < slave->sii_sync_count; i++) {
fp@618:         sync = &slave->sii_syncs[i];
fp@635:         off += sprintf(buffer + off,
fp@635:                 "  SM%u: addr 0x%04X, size %i, control 0x%02X, %s\n",
fp@618:                 sync->index, sync->physical_start_address,
fp@635:                 ec_sync_size(sync), sync->control_register,
fp@618:                 sync->enable ? "enable" : "disable");
fp@635: 
fp@635:         if (list_empty(&sync->pdos))
fp@635:             off += sprintf(buffer + off, "    No PDOs mapped.\n");
fp@635: 
fp@635:         list_for_each_entry(pdo, &sync->pdos, list) {
fp@635:             off += sprintf(buffer + off, "    %s 0x%04X \"%s\"\n",
fp@635:                     pdo->type == EC_RX_PDO ? "RXPDO" : "TXPDO",
fp@635:                     pdo->index, pdo->name ? pdo->name : "???");
fp@635: 
fp@635:             list_for_each_entry(pdo_entry, &pdo->entries, list) {
fp@635:                 off += sprintf(buffer + off,
fp@635:                         "      0x%04X:%X \"%s\", %i bit\n",
fp@635:                         pdo_entry->index, pdo_entry->subindex,
fp@635:                         pdo_entry->name ? pdo_entry->name : "???",
fp@635:                         pdo_entry->bit_length);
fp@635:             }
fp@635:         }
fp@325:     }
fp@325: 
fp@730:     // type-cast to avoid warnings on some compilers
fp@730:     if (!list_empty((struct list_head *) &slave->sii_pdos))
fp@635:         off += sprintf(buffer + off, "\nAvailable PDOs:\n");
fp@325: 
fp@325:     list_for_each_entry(pdo, &slave->sii_pdos, list) {
fp@635:         off += sprintf(buffer + off, "  %s 0x%04X \"%s\"",
fp@325:                        pdo->type == EC_RX_PDO ? "RXPDO" : "TXPDO",
fp@635:                        pdo->index, pdo->name ? pdo->name : "???");
fp@635:         if (pdo->sync_index >= 0)
fp@635:             off += sprintf(buffer + off, ", default mapping: SM%u.\n",
fp@635:                     pdo->sync_index);
fp@635:         else
fp@635:             off += sprintf(buffer + off, ", no default mapping.\n");
fp@147: 
fp@147:         list_for_each_entry(pdo_entry, &pdo->entries, list) {
fp@635:             off += sprintf(buffer + off, "    0x%04X:%X \"%s\", %i bit\n",
fp@635:                            pdo_entry->index, pdo_entry->subindex,
fp@325:                            pdo_entry->name ? pdo_entry->name : "???",
fp@325:                            pdo_entry->bit_length);
fp@325:         }
fp@325:     }
fp@325: 
fp@730:     // type-cast to avoid warnings on some compilers
fp@730:     if (!list_empty((struct list_head *) &slave->sdo_confs))
fp@464:         off += sprintf(buffer + off, "\nSDO configurations:\n");
fp@464: 
fp@464:     list_for_each_entry(sdodata, &slave->sdo_confs, list) {
fp@464:         switch (sdodata->size) {
fp@464:             case 1: sprintf(str, "%i", EC_READ_U8(sdodata->data)); break;
fp@464:             case 2: sprintf(str, "%i", EC_READ_U16(sdodata->data)); break;
fp@464:             case 4: sprintf(str, "%i", EC_READ_U32(sdodata->data)); break;
fp@464:             default: sprintf(str, "(invalid size)"); break;
fp@464:         }
fp@464:         off += sprintf(buffer + off, "  0x%04X:%-3i -> %s\n",
fp@464:                        sdodata->index, sdodata->subindex, str);
fp@464:     }
fp@464: 
fp@325:     off += sprintf(buffer + off, "\n");
fp@325: 
fp@325:     return off;
fp@325: }
fp@325: 
fp@325: /*****************************************************************************/
fp@325: 
fp@133: /**
fp@607:  * Schedules an EEPROM write request.
fp@607:  * \return 0 case of success, otherwise error code.
fp@607:  */
fp@607: 
fp@607: int ec_slave_schedule_eeprom_writing(ec_eeprom_write_request_t *request)
fp@607: {
fp@607:     ec_master_t *master = request->slave->master;
fp@607: 
fp@649:     request->state = EC_REQUEST_QUEUED;
fp@607: 
fp@607:     // schedule EEPROM write request.
fp@607:     down(&master->eeprom_sem);
fp@607:     list_add_tail(&request->list, &master->eeprom_requests);
fp@607:     up(&master->eeprom_sem);
fp@607: 
fp@607:     // wait for processing through FSM
fp@607:     if (wait_event_interruptible(master->eeprom_queue,
fp@649:                 request->state != EC_REQUEST_QUEUED)) {
fp@607:         // interrupted by signal
fp@607:         down(&master->eeprom_sem);
fp@649:         if (request->state == EC_REQUEST_QUEUED) {
fp@607:             list_del(&request->list);
fp@607:             up(&master->eeprom_sem);
fp@607:             return -EINTR;
fp@607:         }
fp@607:         // request already processing: interrupt not possible.
fp@607:         up(&master->eeprom_sem);
fp@607:     }
fp@607: 
fp@607:     // wait until master FSM has finished processing
fp@649:     wait_event(master->eeprom_queue,
fp@649:             request->state != EC_REQUEST_IN_PROGRESS);
fp@649: 
fp@649:     return request->state == EC_REQUEST_COMPLETE ? 0 : -EIO;
fp@607: }
fp@607: 
fp@607: /*****************************************************************************/
fp@607: 
fp@607: /**
fp@735:  * Calculates the EEPROM checksum field.
fp@735:  *
fp@735:  * The checksum is generated with the polynom x^8+x^2+x+1 (0x07) and an
fp@735:  * initial value of 0xff (see IEC 61158-6-12 ch. 5.4).
fp@735:  *
fp@735:  * The below code was originally generated with PYCRC
fp@735:  * http://www.tty1.net/pycrc
fp@735:  *
fp@735:  * ./pycrc.py --width=8 --poly=0x07 --reflect-in=0 --xor-in=0xff
fp@735:  *   --reflect-out=0 --xor-out=0 --generate c --algorithm=bit-by-bit
fp@735:  *
fp@735:  * \return CRC8
fp@735:  */
fp@735: 
fp@735: uint8_t ec_slave_eeprom_crc(const uint8_t *data, size_t length)
fp@735: {
fp@735:     unsigned int i;
fp@735:     uint8_t bit, byte, crc = 0x48;
fp@735: 
fp@735:     while (length--) {
fp@735:         byte = *data++;
fp@735:         for (i = 0; i < 8; i++) {
fp@735:             bit = crc & 0x80;
fp@735:             crc = (crc << 1) | ((byte >> (7 - i)) & 0x01);
fp@735:             if (bit) crc ^= 0x07;
fp@735:         }
fp@735:     }
fp@735: 
fp@735:     for (i = 0; i < 8; i++) {
fp@735:         bit = crc & 0x80;
fp@735:         crc <<= 1;
fp@735:         if (bit) crc ^= 0x07;
fp@735:     }
fp@735: 
fp@735:     return crc;
fp@735: }
fp@735: 
fp@735: /*****************************************************************************/
fp@735: 
fp@735: /**
fp@607:  * Writes complete EEPROM contents to a slave.
fp@607:  * \return data size written in case of success, otherwise error code.
fp@607:  */
fp@269: 
fp@269: ssize_t ec_slave_write_eeprom(ec_slave_t *slave, /**< EtherCAT slave */
fp@607:         const uint8_t *data, /**< new EEPROM data */
fp@607:         size_t size /**< size of data in bytes */
fp@607:         )
fp@269: {
fp@601:     ec_eeprom_write_request_t request;
fp@601:     const uint16_t *cat_header;
fp@601:     uint16_t cat_type, cat_size;
fp@607:     int ret;
fp@735:     uint8_t crc;
fp@601: 
fp@601:     if (slave->master->mode != EC_MASTER_MODE_IDLE) { // FIXME
fp@306:         EC_ERR("Writing EEPROMs only allowed in idle mode!\n");
fp@599:         return -EBUSY;
fp@269:     }
fp@269: 
fp@269:     if (size % 2) {
fp@601:         EC_ERR("EEPROM data size is odd! Dropping.\n");
fp@599:         return -EINVAL;
fp@269:     }
fp@269: 
fp@601:     // init EEPROM write request
fp@601:     INIT_LIST_HEAD(&request.list);
fp@601:     request.slave = slave;
fp@601:     request.words = (const uint16_t *) data;
fp@601:     request.offset = 0;
fp@601:     request.size = size / 2;
fp@601: 
fp@601:     if (request.size < 0x0041) {
fp@269:         EC_ERR("EEPROM data too short! Dropping.\n");
fp@599:         return -EINVAL;
fp@269:     }
fp@269: 
fp@735:     // calculate checksum
fp@735:     crc = ec_slave_eeprom_crc(data, 14); // CRC over words 0 to 6
fp@735:     if (crc != data[14]) {
fp@735:         EC_WARN("EEPROM CRC incorrect. Must be 0x%02x.\n", crc);
fp@735:     }
fp@735: 
fp@696:     cat_header = request.words + EC_FIRST_EEPROM_CATEGORY_OFFSET;
fp@601:     cat_type = EC_READ_U16(cat_header);
fp@601:     while (cat_type != 0xFFFF) { // cycle through categories
fp@601:         if (cat_header + 1 > request.words + request.size) {
fp@601:             EC_ERR("EEPROM data corrupted! Dropping.\n");
fp@599:             return -EINVAL;
fp@269:         }
fp@601:         cat_size = EC_READ_U16(cat_header + 1);
fp@601:         if (cat_header + cat_size + 2 > request.words + request.size) {
fp@601:             EC_ERR("EEPROM data corrupted! Dropping.\n");
fp@601:             return -EINVAL;
fp@601:         }
fp@601:         cat_header += cat_size + 2;
fp@601:         cat_type = EC_READ_U16(cat_header);
fp@601:     }
fp@601: 
fp@607:     // EEPROM data ok. schedule writing.
fp@607:     if ((ret = ec_slave_schedule_eeprom_writing(&request)))
fp@607:         return ret; // error code
fp@607: 
fp@607:     return size; // success
fp@607: }
fp@607: 
fp@607: /*****************************************************************************/
fp@607: 
fp@607: /**
fp@607:  * Writes the Secondary slave address (alias) to the slave's EEPROM.
fp@607:  * \return data size written in case of success, otherwise error code.
fp@607:  */
fp@607: 
fp@607: ssize_t ec_slave_write_alias(ec_slave_t *slave, /**< EtherCAT slave */
fp@607:         const uint8_t *data, /**< alias string */
fp@607:         size_t size /**< size of data in bytes */
fp@607:         )
fp@607: {
fp@607:     ec_eeprom_write_request_t request;
fp@607:     char *remainder;
fp@735:     uint16_t alias, words[8];
fp@607:     int ret;
fp@735:     uint8_t crc;
fp@607: 
fp@607:     if (slave->master->mode != EC_MASTER_MODE_IDLE) { // FIXME
fp@735:         EC_ERR("Writing to EEPROM is only allowed in idle mode!\n");
fp@607:         return -EBUSY;
fp@607:     }
fp@607: 
fp@607:     alias = simple_strtoul(data, &remainder, 0);
fp@607:     if (remainder == (char *) data || (*remainder && *remainder != '\n')) {
fp@607:         EC_ERR("Invalid alias value! Dropping.\n");
fp@607:         return -EINVAL;
fp@607:     }
fp@735: 
fp@735:     if (!slave->eeprom_data || slave->eeprom_size < 16) {
fp@735:         EC_ERR("Failed to read EEPROM contents from slave %u.\n",
fp@735:                 slave->ring_position);
fp@735:         return -EINVAL;
fp@735:     }
fp@735: 
fp@735:     // copy first 7 words of recent EEPROM contents
fp@735:     memcpy(words, slave->eeprom_data, 14);
fp@607:     
fp@735:     // write new alias address
fp@735:     EC_WRITE_U16(words + 4, alias);
fp@735: 
fp@735:     // calculate new checksum over words 0 to 6
fp@735:     crc = ec_slave_eeprom_crc((const uint8_t *) words, 14);
fp@735:     EC_WRITE_U16(words + 7, crc);
fp@607: 
fp@607:     // init EEPROM write request
fp@607:     INIT_LIST_HEAD(&request.list);
fp@607:     request.slave = slave;
fp@735:     request.words = words;
fp@735:     request.offset = 0x0000;
fp@735:     request.size = 8;
fp@607: 
fp@607:     if ((ret = ec_slave_schedule_eeprom_writing(&request)))
fp@607:         return ret; // error code
fp@607: 
fp@607:     slave->sii_alias = alias; // FIXME: do this in state machine
fp@607: 
fp@607:     return size; // success
fp@607: }
fp@607: 
fp@269: 
fp@269: /*****************************************************************************/
fp@269: 
fp@269: /**
fp@195:    Formats attribute data for SysFS read access.
fp@195:    \return number of bytes to read
fp@195: */
fp@195: 
fp@195: ssize_t ec_show_slave_attribute(struct kobject *kobj, /**< slave's kobject */
fp@195:                                 struct attribute *attr, /**< attribute */
fp@195:                                 char *buffer /**< memory to store data */
fp@182:                                 )
fp@182: {
fp@182:     ec_slave_t *slave = container_of(kobj, ec_slave_t, kobj);
fp@182: 
fp@325:     if (attr == &attr_info) {
fp@325:         return ec_slave_info(slave, buffer);
fp@185:     }
fp@256:     else if (attr == &attr_state) {
fp@256:         switch (slave->current_state) {
fp@256:             case EC_SLAVE_STATE_INIT:
fp@256:                 return sprintf(buffer, "INIT\n");
fp@256:             case EC_SLAVE_STATE_PREOP:
fp@256:                 return sprintf(buffer, "PREOP\n");
fp@256:             case EC_SLAVE_STATE_SAVEOP:
fp@256:                 return sprintf(buffer, "SAVEOP\n");
fp@256:             case EC_SLAVE_STATE_OP:
fp@256:                 return sprintf(buffer, "OP\n");
fp@256:             default:
fp@256:                 return sprintf(buffer, "UNKNOWN\n");
fp@256:         }
fp@256:     }
fp@266:     else if (attr == &attr_eeprom) {
fp@266:         if (slave->eeprom_data) {
fp@266:             if (slave->eeprom_size > PAGE_SIZE) {
fp@266:                 EC_ERR("EEPROM contents of slave %i exceed 1 page (%i/%i).\n",
fp@266:                        slave->ring_position, slave->eeprom_size,
fp@266:                        (int) PAGE_SIZE);
fp@266:             }
fp@266:             else {
fp@266:                 memcpy(buffer, slave->eeprom_data, slave->eeprom_size);
fp@266:                 return slave->eeprom_size;
fp@266:             }
fp@266:         }
fp@266:     }
fp@607:     else if (attr == &attr_alias) {
fp@607:         return sprintf(buffer, "%u\n", slave->sii_alias);
fp@607:     }
fp@182: 
fp@182:     return 0;
fp@182: }
fp@182: 
fp@256: /*****************************************************************************/
fp@256: 
fp@256: /**
fp@256:    Formats attribute data for SysFS write access.
fp@256:    \return number of bytes processed, or negative error code
fp@256: */
fp@256: 
fp@256: ssize_t ec_store_slave_attribute(struct kobject *kobj, /**< slave's kobject */
fp@256:                                  struct attribute *attr, /**< attribute */
fp@256:                                  const char *buffer, /**< memory with data */
fp@256:                                  size_t size /**< size of data to store */
fp@256:                                  )
fp@256: {
fp@256:     ec_slave_t *slave = container_of(kobj, ec_slave_t, kobj);
fp@256: 
fp@256:     if (attr == &attr_state) {
fp@403:         char state[EC_STATE_STRING_SIZE];
fp@292:         if (!strcmp(buffer, "INIT\n"))
fp@446:             ec_slave_request_state(slave, EC_SLAVE_STATE_INIT);
fp@292:         else if (!strcmp(buffer, "PREOP\n"))
fp@446:             ec_slave_request_state(slave, EC_SLAVE_STATE_PREOP);
fp@292:         else if (!strcmp(buffer, "SAVEOP\n"))
fp@446:             ec_slave_request_state(slave, EC_SLAVE_STATE_SAVEOP);
fp@292:         else if (!strcmp(buffer, "OP\n"))
fp@446:             ec_slave_request_state(slave, EC_SLAVE_STATE_OP);
fp@292:         else {
fp@292:             EC_ERR("Invalid slave state \"%s\"!\n", buffer);
fp@292:             return -EINVAL;
fp@292:         }
fp@292: 
fp@333:         ec_state_string(slave->requested_state, state);
fp@292:         EC_INFO("Accepted new state %s for slave %i.\n",
fp@333:                 state, slave->ring_position);
fp@292:         return size;
fp@256:     }
fp@269:     else if (attr == &attr_eeprom) {
fp@599:         return ec_slave_write_eeprom(slave, buffer, size);
fp@269:     }
fp@607:     else if (attr == &attr_alias) {
fp@607:         return ec_slave_write_alias(slave, buffer, size);
fp@607:     }
fp@607: 
fp@607:     return -EIO;
fp@256: }
fp@256: 
fp@275: /*****************************************************************************/
fp@275: 
fp@275: /**
fp@619:  */
fp@619: 
fp@626: ec_sync_t *ec_slave_get_pdo_sync(
fp@619:         ec_slave_t *slave, /**< EtherCAT slave */
fp@619:         ec_direction_t dir /**< input or output */
fp@619:         )
fp@619: {
fp@619:     unsigned int sync_index;
fp@619: 
fp@635:     if (dir != EC_DIR_INPUT && dir != EC_DIR_OUTPUT) {
fp@635:         EC_ERR("Invalid direction!\n");
fp@635:         return NULL;
fp@635:     }
fp@635: 
fp@635:     sync_index = (unsigned int) dir;
fp@619:     if (slave->sii_mailbox_protocols) sync_index += 2;
fp@619: 
fp@660:     if (sync_index >= slave->sii_sync_count)
fp@619:         return NULL;
fp@619: 
fp@619:     return &slave->sii_syncs[sync_index];
fp@619: }
fp@619: 
fp@619: /*****************************************************************************/
fp@619: 
fp@619: /**
fp@329:    \return 0 in case of success, else < 0
fp@329: */
fp@329: 
fp@329: int ec_slave_conf_sdo(ec_slave_t *slave, /**< EtherCAT slave */
fp@329:                       uint16_t sdo_index, /**< SDO index */
fp@329:                       uint8_t sdo_subindex, /**< SDO subindex */
fp@329:                       const uint8_t *data, /**< SDO data */
fp@329:                       size_t size /**< SDO size in bytes */
fp@329:                       )
fp@329: {
fp@329:     ec_sdo_data_t *sdodata;
fp@329: 
fp@329:     if (!(slave->sii_mailbox_protocols & EC_MBOX_COE)) {
fp@329:         EC_ERR("Slave %i does not support CoE!\n", slave->ring_position);
fp@329:         return -1;
fp@329:     }
fp@329: 
fp@329:     if (!(sdodata = (ec_sdo_data_t *)
fp@329:           kmalloc(sizeof(ec_sdo_data_t), GFP_KERNEL))) {
fp@329:         EC_ERR("Failed to allocate memory for SDO configuration object!\n");
fp@329:         return -1;
fp@329:     }
fp@329: 
fp@329:     if (!(sdodata->data = (uint8_t *) kmalloc(size, GFP_KERNEL))) {
fp@329:         EC_ERR("Failed to allocate memory for SDO configuration data!\n");
fp@329:         kfree(sdodata);
fp@329:         return -1;
fp@329:     }
fp@329: 
fp@329:     sdodata->index = sdo_index;
fp@329:     sdodata->subindex = sdo_subindex;
fp@329:     memcpy(sdodata->data, data, size);
fp@329:     sdodata->size = size;
fp@329: 
fp@329:     list_add_tail(&sdodata->list, &slave->sdo_confs);
fp@329:     return 0;
fp@329: }
fp@329: 
fp@410: /*****************************************************************************/
fp@410: 
fp@410: /**
fp@410:    \return 0 in case of success, else < 0
fp@410: */
fp@410: 
fp@410: int ec_slave_validate(const ec_slave_t *slave, /**< EtherCAT slave */
fp@410:                       uint32_t vendor_id, /**< vendor ID */
fp@410:                       uint32_t product_code /**< product code */
fp@410:                       )
fp@410: {
fp@410:     if (vendor_id != slave->sii_vendor_id ||
fp@410:         product_code != slave->sii_product_code) {
fp@643:         EC_ERR("Invalid slave type at position %i:\n", slave->ring_position);
fp@643:         EC_ERR("  Requested: 0x%08X 0x%08X\n", vendor_id, product_code);
fp@643:         EC_ERR("      Found: 0x%08X 0x%08X\n",
fp@643:                 slave->sii_vendor_id, slave->sii_product_code);
fp@410:         return -1;
fp@410:     }
fp@410:     return 0;
fp@410: }
fp@410: 
fp@423: /*****************************************************************************/
fp@423: 
fp@423: /**
fp@423:    Counts the total number of SDOs and entries in the dictionary.
fp@423: */
fp@423: 
fp@423: void ec_slave_sdo_dict_info(const ec_slave_t *slave, /**< EtherCAT slave */
fp@423:                             unsigned int *sdo_count, /**< number of SDOs */
fp@423:                             unsigned int *entry_count /**< total number of
fp@423:                                                          entries */
fp@423:                             )
fp@423: {
fp@423:     unsigned int sdos = 0, entries = 0;
fp@423:     ec_sdo_t *sdo;
fp@423:     ec_sdo_entry_t *entry;
fp@423: 
fp@423:     list_for_each_entry(sdo, &slave->sdo_dictionary, list) {
fp@423:         sdos++;
fp@423:         list_for_each_entry(entry, &sdo->entries, list) {
fp@423:             entries++;
fp@423:         }
fp@423:     }
fp@423: 
fp@423:     *sdo_count = sdos;
fp@423:     *entry_count = entries;
fp@423: }
fp@423: 
fp@740: /*****************************************************************************/
fp@740: 
fp@740: /**
fp@740:  * Get an SDO from the dictionary.
fp@740:  * \returns The desired SDO, of NULL.
fp@740:  */
fp@740: 
fp@740: ec_sdo_t *ec_slave_get_sdo(
fp@740:         ec_slave_t *slave /**< EtherCAT slave */,
fp@740:         uint16_t index /**< SDO index */
fp@740:         )
fp@740: {
fp@740:     ec_sdo_t *sdo;
fp@740: 
fp@740:     list_for_each_entry(sdo, &slave->sdo_dictionary, list) {
fp@740:         if (sdo->index != index) continue;
fp@740:         return sdo;
fp@740:     }
fp@740: 
fp@740:     return NULL;
fp@740: }
fp@740: 
fp@199: /******************************************************************************
fp@199:  *  Realtime interface
fp@199:  *****************************************************************************/
fp@199: 
fp@199: /**
fp@199:    \return 0 in case of success, else < 0
fp@199:    \ingroup RealtimeInterface
fp@199: */
fp@199: 
fp@329: int ecrt_slave_conf_sdo8(ec_slave_t *slave, /**< EtherCAT slave */
fp@329:                          uint16_t sdo_index, /**< SDO index */
fp@329:                          uint8_t sdo_subindex, /**< SDO subindex */
fp@329:                          uint8_t value /**< new SDO value */
fp@329:                          )
fp@329: {
fp@329:     uint8_t data[1];
fp@329:     EC_WRITE_U8(data, value);
fp@329:     return ec_slave_conf_sdo(slave, sdo_index, sdo_subindex, data, 1);
fp@329: }
fp@329: 
fp@329: /*****************************************************************************/
fp@329: 
fp@329: /**
fp@329:    \return 0 in case of success, else < 0
fp@329:    \ingroup RealtimeInterface
fp@329: */
fp@329: 
fp@329: int ecrt_slave_conf_sdo16(ec_slave_t *slave, /**< EtherCAT slave */
fp@329:                           uint16_t sdo_index, /**< SDO index */
fp@329:                           uint8_t sdo_subindex, /**< SDO subindex */
fp@329:                           uint16_t value /**< new SDO value */
fp@329:                           )
fp@329: {
fp@329:     uint8_t data[2];
fp@329:     EC_WRITE_U16(data, value);
fp@329:     return ec_slave_conf_sdo(slave, sdo_index, sdo_subindex, data, 2);
fp@329: }
fp@329: 
fp@329: /*****************************************************************************/
fp@329: 
fp@329: /**
fp@329:    \return 0 in case of success, else < 0
fp@329:    \ingroup RealtimeInterface
fp@329: */
fp@329: 
fp@329: int ecrt_slave_conf_sdo32(ec_slave_t *slave, /**< EtherCAT slave */
fp@329:                           uint16_t sdo_index, /**< SDO index */
fp@329:                           uint8_t sdo_subindex, /**< SDO subindex */
fp@329:                           uint32_t value /**< new SDO value */
fp@329:                           )
fp@329: {
fp@329:     uint8_t data[4];
fp@329:     EC_WRITE_U32(data, value);
fp@329:     return ec_slave_conf_sdo(slave, sdo_index, sdo_subindex, data, 4);
fp@329: }
fp@329: 
fp@329: /*****************************************************************************/
fp@329: 
fp@635: void ecrt_slave_pdo_mapping_clear(
fp@635:         ec_slave_t *slave, /**< EtherCAT slave */
fp@635:         ec_direction_t dir /**< output/input */
fp@635:         )
fp@635: {
fp@635:     ec_sync_t *sync;
fp@635: 
fp@635:     if (!(slave->sii_mailbox_protocols & EC_MBOX_COE)) {
fp@635:         EC_ERR("Slave %i does not support CoE!\n", slave->ring_position);
fp@635:         return;
fp@635:     }
fp@635: 
fp@635:     if (!(sync = ec_slave_get_pdo_sync(slave, dir)))
fp@635:         return;
fp@635: 
fp@635:     ec_sync_clear_pdos(sync);
fp@635: }
fp@635: 
fp@635: /*****************************************************************************/
fp@635: 
fp@635: int ecrt_slave_pdo_mapping_add(
fp@635:         ec_slave_t *slave, /**< EtherCAT slave */
fp@635:         ec_direction_t dir, /**< input/output */
fp@635:         uint16_t pdo_index /**< Index of PDO mapping list */)
fp@635: {
fp@635:     ec_pdo_t *pdo;
fp@635:     ec_sync_t *sync;
fp@635:     unsigned int not_found = 1;
fp@635: 
fp@635:     if (!(slave->sii_mailbox_protocols & EC_MBOX_COE)) {
fp@660:         EC_ERR("Slave %u does not support CoE!\n", slave->ring_position);
fp@635:         return -1;
fp@635:     }
fp@635: 
fp@635:     // does the slave provide the PDO list?
fp@635:     list_for_each_entry(pdo, &slave->sii_pdos, list) {
fp@635:         if (pdo->index == pdo_index) {
fp@635:             not_found = 0;
fp@635:             break;
fp@635:         }
fp@635:     }
fp@635: 
fp@635:     if (not_found) {
fp@660:         EC_ERR("Slave %u does not provide PDO 0x%04X!\n",
fp@635:                 slave->ring_position, pdo_index);
fp@635:         return -1;
fp@635:     }
fp@635: 
fp@635:     // check direction
fp@635:     if ((pdo->type == EC_TX_PDO && dir == EC_DIR_OUTPUT) ||
fp@635:             (pdo->type == EC_RX_PDO && dir == EC_DIR_INPUT)) {
fp@635:         EC_ERR("Invalid direction for PDO 0x%04X.\n", pdo_index);
fp@635:         return -1;
fp@635:     }
fp@635: 
fp@635: 
fp@660:     if (!(sync = ec_slave_get_pdo_sync(slave, dir))) {
fp@660:         EC_ERR("Failed to obtain sync manager for PDO mapping of slave %u!\n",
fp@660:                 slave->ring_position);
fp@635:         return -1;
fp@660:     }
fp@635: 
fp@635:     return ec_sync_add_pdo(sync, pdo);
fp@635: }
fp@635: 
fp@635: /*****************************************************************************/
fp@635: 
fp@635: int ecrt_slave_pdo_mapping(ec_slave_t *slave, /**< EtherCAT slave */
fp@635:         ec_direction_t dir, /**< input/output */
fp@635:         unsigned int num_args, /**< Number of following arguments */
fp@635:         ... /**< PDO indices to map */
fp@635:         )
fp@635: {
fp@635:     va_list ap;
fp@635: 
fp@635:     ecrt_slave_pdo_mapping_clear(slave, dir);
fp@635: 
fp@635:     va_start(ap, num_args);
fp@635: 
fp@635:     for (; num_args; num_args--) {
fp@635:         if (ecrt_slave_pdo_mapping_add(
fp@635:                     slave, dir, (uint16_t) va_arg(ap, int))) {
fp@635:             return -1;
fp@635:         }
fp@635:     }
fp@635: 
fp@635:     va_end(ap);
fp@635:     return 0;
fp@635: }
fp@635: 
fp@635: 
fp@635: /*****************************************************************************/
fp@635: 
fp@526: /** \cond */
fp@164: 
fp@329: EXPORT_SYMBOL(ecrt_slave_conf_sdo8);
fp@329: EXPORT_SYMBOL(ecrt_slave_conf_sdo16);
fp@329: EXPORT_SYMBOL(ecrt_slave_conf_sdo32);
fp@635: EXPORT_SYMBOL(ecrt_slave_pdo_mapping_clear);
fp@635: EXPORT_SYMBOL(ecrt_slave_pdo_mapping_add);
fp@635: EXPORT_SYMBOL(ecrt_slave_pdo_mapping);
fp@138: 
fp@526: /** \endcond */
fp@526: 
fp@526: /*****************************************************************************/