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@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@409: /*****************************************************************************/
fp@409: 
fp@409: /** \cond */
fp@409: 
fp@409: EC_SYSFS_READ_ATTR(info);
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@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@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@409:     sdo->kobj.parent = &slave->kobj;
fp@409:     if (kobject_set_name(&sdo->kobj, "sdo%4X", sdo->index)) {
fp@409:         EC_ERR("Failed to set kobj name.\n");
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@409: */
fp@409: 
fp@409: void ec_sdo_clear(struct kobject *kobj /**< SDO's kobject */)
fp@409: {
fp@409:     ec_sdo_t *sdo = container_of(kobj, ec_sdo_t, kobj);
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@409:         kobject_del(&entry->kobj);
fp@409:         kobject_put(&entry->kobj);
fp@409:     }
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@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@409:     if (kobject_set_name(&entry->kobj, "entry%02X", entry->subindex)) {
fp@409:         EC_ERR("Failed to set kobj name.\n");
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@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@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@409: 
fp@409:     return 0;
fp@409: }
fp@409: 
fp@409: /*****************************************************************************/
fp@409: 
fp@409: #if 0
fp@409: int ecrt_slave_sdo_read(ec_slave_t *slave, /**< EtherCAT slave */
fp@409:                         uint16_t sdo_index, /**< SDO index */
fp@409:                         uint8_t sdo_subindex, /**< SDO subindex */
fp@409:                         uint8_t *target, /**< memory for value */
fp@409:                         size_t *size /**< target memory size */
fp@409:                         )
fp@409: {
fp@409:     uint8_t *data;
fp@409:     size_t rec_size, data_size;
fp@409:     uint32_t complete_size;
fp@409:     ec_datagram_t datagram;
fp@409: 
fp@409:     ec_datagram_init(&datagram);
fp@409: 
fp@409:     if (!(data = ec_slave_mbox_prepare_send(slave, &datagram, 0x03, 6)))
fp@409:         goto err;
fp@409: 
fp@409:     EC_WRITE_U16(data, 0x2 << 12); // SDO request
fp@409:     EC_WRITE_U8 (data + 2, 0x2 << 5); // initiate upload request
fp@409:     EC_WRITE_U16(data + 3, sdo_index);
fp@409:     EC_WRITE_U8 (data + 5, sdo_subindex);
fp@409: 
fp@409:     if (!(data = ec_slave_mbox_simple_io(slave, &datagram, &rec_size)))
fp@409:         goto err;
fp@409: 
fp@409:     if (EC_READ_U16(data) >> 12 == 0x2 && // SDO request
fp@409:         EC_READ_U8 (data + 2) >> 5 == 0x4) { // abort SDO transfer request
fp@409:         EC_ERR("SDO upload 0x%04X:%X aborted on slave %i.\n",
fp@409:                sdo_index, sdo_subindex, slave->ring_position);
fp@409:         ec_canopen_abort_msg(EC_READ_U32(data + 6));
fp@409:         goto err;
fp@409:     }
fp@409: 
fp@409:     if (EC_READ_U16(data) >> 12 != 0x3 || // SDO response
fp@409:         EC_READ_U8 (data + 2) >> 5 != 0x2 || // initiate upload response
fp@409:         EC_READ_U16(data + 3) != sdo_index || // index
fp@409:         EC_READ_U8 (data + 5) != sdo_subindex) { // subindex
fp@409:         EC_ERR("SDO upload 0x%04X:%X failed:\n", sdo_index, sdo_subindex);
fp@409:         EC_ERR("Invalid SDO upload response at slave %i!\n",
fp@409:                slave->ring_position);
fp@409:         ec_print_data(data, rec_size);
fp@409:         goto err;
fp@409:     }
fp@409: 
fp@409:     if (rec_size < 10) {
fp@409:         EC_ERR("Received currupted SDO upload response!\n");
fp@409:         ec_print_data(data, rec_size);
fp@409:         goto err;
fp@409:     }
fp@409: 
fp@409:     if ((complete_size = EC_READ_U32(data + 6)) > *size) {
fp@409:         EC_ERR("SDO data does not fit into buffer (%i / %i)!\n",
fp@409:                complete_size, *size);
fp@409:         goto err;
fp@409:     }
fp@409: 
fp@409:     data_size = rec_size - 10;
fp@409: 
fp@409:     if (data_size != complete_size) {
fp@409:         EC_ERR("SDO data incomplete - Fragmenting not implemented.\n");
fp@409:         goto err;
fp@409:     }
fp@409: 
fp@409:     memcpy(target, data + 10, data_size);
fp@409: 
fp@409:     ec_datagram_clear(&datagram);
fp@409:     return 0;
fp@409:  err:
fp@409:     ec_datagram_clear(&datagram);
fp@409:     return -1;
fp@409: }
fp@409: #endif
fp@409: 
fp@409: /*****************************************************************************/