fp@792: /******************************************************************************
fp@792:  *
fp@792:  *  $Id$
fp@792:  *
fp@1326:  *  Copyright (C) 2006-2008  Florian Pose, Ingenieurgemeinschaft IgH
fp@792:  *
fp@792:  *  This file is part of the IgH EtherCAT Master.
fp@792:  *
fp@1326:  *  The IgH EtherCAT Master is free software; you can redistribute it and/or
fp@1326:  *  modify it under the terms of the GNU General Public License version 2, as
fp@1326:  *  published by the Free Software Foundation.
fp@1326:  *
fp@1326:  *  The IgH EtherCAT Master is distributed in the hope that it will be useful,
fp@1326:  *  but WITHOUT ANY WARRANTY; without even the implied warranty of
fp@1326:  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General
fp@1326:  *  Public License for more details.
fp@1326:  *
fp@1326:  *  You should have received a copy of the GNU General Public License along
fp@1326:  *  with the IgH EtherCAT Master; if not, write to the Free Software
fp@792:  *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
fp@792:  *
fp@1363:  *  ---
fp@1363:  *
fp@1363:  *  The license mentioned above concerns the source code only. Using the
fp@1363:  *  EtherCAT technology and brand is only permitted in compliance with the
fp@1363:  *  industrial property and similar rights of Beckhoff Automation GmbH.
fp@792:  *
fp@1873:  *  vim: expandtab
fp@1873:  *
fp@792:  *****************************************************************************/
fp@792: 
fp@792: /**
fp@792:    \file
fp@792:    EtherCAT slave configuration methods.
fp@792: */
fp@792: 
fp@792: /*****************************************************************************/
fp@792: 
fp@995: #include <linux/slab.h>
fp@792: 
fp@792: #include "globals.h"
fp@792: #include "master.h"
fp@1209: #include "voe_handler.h"
fp@792: 
fp@792: #include "slave_config.h"
fp@792: 
fp@792: /*****************************************************************************/
fp@792: 
fp@792: /** Slave configuration constructor.
fp@792:  *
fp@792:  * See ecrt_master_slave_config() for the usage of the \a alias and \a
fp@792:  * position parameters.
fp@995:  */
fp@995: void ec_slave_config_init(
fp@995:         ec_slave_config_t *sc, /**< Slave configuration. */
fp@792:         ec_master_t *master, /**< EtherCAT master. */
fp@792:         uint16_t alias, /**< Slave alias. */
fp@792:         uint16_t position, /**< Slave position. */
fp@792:         uint32_t vendor_id, /**< Expected vendor ID. */
fp@1010:         uint32_t product_code /**< Expected product code. */
fp@792:         )
fp@792: {
fp@1055:     unsigned int i;
fp@792: 
fp@792:     sc->master = master;
fp@1392: 
fp@792:     sc->alias = alias;
fp@792:     sc->position = position;
fp@792:     sc->vendor_id = vendor_id;
fp@792:     sc->product_code = product_code;
fp@1509:     sc->watchdog_divider = 0; // use default
fp@1509:     sc->watchdog_intervals = 0; // use default
fp@1392: 
fp@792:     sc->slave = NULL;
fp@792: 
fp@1082:     for (i = 0; i < EC_MAX_SYNC_MANAGERS; i++)
fp@1055:         ec_sync_config_init(&sc->sync_configs[i]);
fp@792: 
fp@1392:     sc->used_fmmus = 0;
ch1010252@1798:     sc->used_for_fmmu_datagram[EC_DIR_INPUT] = 0;
ch1010252@1798:     sc->used_for_fmmu_datagram[EC_DIR_OUTPUT] = 0;
fp@1507:     sc->dc_assign_activate = 0x0000;
fp@1507:     sc->dc_sync[0].cycle_time = 0x00000000;
fp@1507:     sc->dc_sync[1].cycle_time = 0x00000000;
fp@1507:     sc->dc_sync[0].shift_time = 0x00000000;
fp@1507:     sc->dc_sync[1].shift_time = 0x00000000;
fp@1392: 
fp@792:     INIT_LIST_HEAD(&sc->sdo_configs);
fp@858:     INIT_LIST_HEAD(&sc->sdo_requests);
fp@1209:     INIT_LIST_HEAD(&sc->voe_handlers);
fp@1844:     INIT_LIST_HEAD(&sc->soe_configs);
fp@792: }
fp@792: 
fp@792: /*****************************************************************************/
fp@792: 
fp@792: /** Slave configuration destructor.
fp@792:  *
fp@792:  * Clears and frees a slave configuration object.
fp@792:  */
fp@995: void ec_slave_config_clear(
fp@792:         ec_slave_config_t *sc /**< Slave configuration. */
fp@792:         )
fp@792: {
fp@1055:     unsigned int i;
fp@854:     ec_sdo_request_t *req, *next_req;
fp@1209:     ec_voe_handler_t *voe, *next_voe;
fp@1844:     ec_soe_request_t *soe, *next_soe;
fp@792: 
fp@995:     ec_slave_config_detach(sc);
fp@792: 
fp@1055:     // Free sync managers
fp@1082:     for (i = 0; i < EC_MAX_SYNC_MANAGERS; i++)
fp@1055:         ec_sync_config_clear(&sc->sync_configs[i]);
fp@792: 
fp@1327:     // free all SDO configurations
fp@854:     list_for_each_entry_safe(req, next_req, &sc->sdo_configs, list) {
fp@854:         list_del(&req->list);
fp@854:         ec_sdo_request_clear(req);
fp@854:         kfree(req);
fp@854:     }
fp@792: 
fp@1327:     // free all SDO requests
fp@858:     list_for_each_entry_safe(req, next_req, &sc->sdo_requests, list) {
fp@858:         list_del(&req->list);
fp@858:         ec_sdo_request_clear(req);
fp@858:         kfree(req);
fp@858:     }
fp@1209: 
fp@1209:     // free all VoE handlers
fp@1209:     list_for_each_entry_safe(voe, next_voe, &sc->voe_handlers, list) {
fp@1209:         list_del(&voe->list);
fp@1209:         ec_voe_handler_clear(voe);
fp@1209:         kfree(voe);
fp@1209:     }
fp@1844: 
fp@1844:     // free all SoE configurations
fp@1844:     list_for_each_entry_safe(soe, next_soe, &sc->soe_configs, list) {
fp@1844:         list_del(&soe->list);
fp@1844:         ec_soe_request_clear(soe);
fp@1844:         kfree(soe);
fp@1844:     }
fp@792: }
fp@792: 
fp@792: /*****************************************************************************/
fp@792: 
fp@792: /** Prepares an FMMU configuration.
fp@792:  *
fp@792:  * Configuration data for the FMMU is saved in the slave config structure and
fp@792:  * is written to the slave during the configuration. The FMMU configuration
fp@792:  * is done in a way, that the complete data range of the corresponding sync
fp@792:  * manager is covered. Seperate FMMUs are configured for each domain. If the
fp@916:  * FMMU configuration is already prepared, the function does nothing and
fp@916:  * returns with success.
fp@916:  *
fp@916:  * \retval >=0 Success, logical offset byte address.
fp@1313:  * \retval  <0 Error code.
fp@792:  */
fp@792: int ec_slave_config_prepare_fmmu(
fp@792:         ec_slave_config_t *sc, /**< Slave configuration. */
fp@792:         ec_domain_t *domain, /**< Domain. */
fp@1055:         uint8_t sync_index, /**< Sync manager index. */
fp@1327:         ec_direction_t dir /**< PDO direction. */
fp@792:         )
fp@792: {
fp@792:     unsigned int i;
fp@792:     ec_fmmu_config_t *fmmu;
fp@792: 
fp@792:     // FMMU configuration already prepared?
fp@792:     for (i = 0; i < sc->used_fmmus; i++) {
fp@792:         fmmu = &sc->fmmu_configs[i];
fp@1055:         if (fmmu->domain == domain && fmmu->sync_index == sync_index)
fp@792:             return fmmu->logical_start_address;
fp@792:     }
fp@792: 
fp@792:     if (sc->used_fmmus == EC_MAX_FMMUS) {
fp@1921:         EC_CONFIG_ERR(sc, "FMMU limit reached!\n");
fp@1313:         return -EOVERFLOW;
fp@792:     }
fp@792: 
fp@792:     fmmu = &sc->fmmu_configs[sc->used_fmmus++];
fp@1075: 
fp@1075:     down(&sc->master->master_sem);
fp@1055:     ec_fmmu_config_init(fmmu, sc, domain, sync_index, dir);
fp@1075:     up(&sc->master->master_sem);
fp@1075: 
fp@792:     return fmmu->logical_start_address;
fp@792: }
fp@792: 
fp@792: /*****************************************************************************/
fp@792: 
fp@792: /** Attaches the configuration to the addressed slave object.
fp@792:  *
fp@1313:  * \retval  0 Success.
fp@1313:  * \retval <0 Error code.
fp@792:  */
fp@792: int ec_slave_config_attach(
fp@792:         ec_slave_config_t *sc /**< Slave configuration. */
fp@792:         )
fp@792: {
fp@1507:     ec_slave_t *slave;
fp@1507: 
fp@1507:     if (sc->slave)
fp@1507:         return 0; // already attached
fp@792: 
fp@927:     if (!(slave = ec_master_find_slave(
fp@927:                     sc->master, sc->alias, sc->position))) {
fp@1921:         EC_CONFIG_DBG(sc, 1, "Failed to find slave for configuration.\n");
fp@1313:         return -ENOENT;
fp@927:     }
fp@927: 
fp@1507:     if (slave->config) {
fp@1921:         EC_CONFIG_DBG(sc, 1, "Failed to attach configuration. Slave %u"
fp@1921:                 " already has a configuration!\n", slave->ring_position);
fp@1313:         return -EEXIST;
fp@1025:     }
fp@1145: 
fp@1025:     if (slave->sii.vendor_id != sc->vendor_id
fp@1025:             || slave->sii.product_code != sc->product_code) {
fp@1921:         EC_CONFIG_DBG(sc, 1, "Slave %u has an invalid type (0x%08X/0x%08X)"
fp@1921:                 " for configuration (0x%08X/0x%08X).\n",
fp@1921:                 slave->ring_position, slave->sii.vendor_id,
fp@1921:                 slave->sii.product_code, sc->vendor_id, sc->product_code);
fp@1313:         return -EINVAL;
fp@1507:     }
fp@1507: 
fp@1507:     // attach slave
fp@1507:     slave->config = sc;
fp@1507:     sc->slave = slave;
fp@1145: 
fp@1025:     ec_slave_request_state(slave, EC_SLAVE_STATE_OP);
fp@792: 
fp@1921:     EC_CONFIG_DBG(sc, 1, "Attached slave %u.\n", slave->ring_position);
fp@929: 
fp@1507:     return 0;
fp@792: }
fp@792: 
fp@792: /*****************************************************************************/
fp@792: 
fp@792: /** Detaches the configuration from a slave object.
fp@792:  */
fp@792: void ec_slave_config_detach(
fp@792:         ec_slave_config_t *sc /**< Slave configuration. */
fp@792:         )
fp@792: {
fp@792:     if (sc->slave) {
fp@792:         sc->slave->config = NULL;
fp@792:         sc->slave = NULL;
fp@792:     }
fp@792: }
fp@792: 
fp@792: /*****************************************************************************/
fp@792: 
fp@1327: /** Loads the default PDO assignment from the slave object.
fp@879:  */
fp@1055: void ec_slave_config_load_default_sync_config(ec_slave_config_t *sc)
fp@1055: {
fp@1055:     uint8_t sync_index;
fp@1055:     ec_sync_config_t *sync_config;
fp@1055:     const ec_sync_t *sync;
fp@792: 
fp@792:     if (!sc->slave)
fp@792:         return;
fp@792:     
fp@1082:     for (sync_index = 0; sync_index < EC_MAX_SYNC_MANAGERS; sync_index++) {
fp@1055:         sync_config = &sc->sync_configs[sync_index];
fp@1055:         if ((sync = ec_slave_get_sync(sc->slave, sync_index))) {
fp@1055:             sync_config->dir = ec_sync_default_direction(sync);
fp@1055:             if (sync_config->dir == EC_DIR_INVALID)
fp@1921:                 EC_SLAVE_WARN(sc->slave,
fp@1921:                         "SM%u has an invalid direction field!\n", sync_index);
fp@1055:             ec_pdo_list_copy(&sync_config->pdos, &sync->pdos);
fp@1055:         }
fp@879:     }
fp@879: }
fp@879: 
fp@879: /*****************************************************************************/
fp@879: 
fp@1327: /** Loads the default mapping for a PDO from the slave object.
fp@879:  */
fp@879: void ec_slave_config_load_default_mapping(
fp@842:         const ec_slave_config_t *sc,
fp@842:         ec_pdo_t *pdo
fp@842:         )
fp@842: {
fp@1055:     unsigned int i;
fp@842:     const ec_sync_t *sync;
fp@842:     const ec_pdo_t *default_pdo;
fp@842: 
fp@1055:     if (!sc->slave)
fp@842:         return;
fp@1055: 
fp@1921:     EC_CONFIG_DBG(sc, 1, "Loading default mapping for PDO 0x%04X.\n",
fp@1921:             pdo->index);
fp@1055: 
fp@1327:     // find PDO in any sync manager (it could be reassigned later)
fp@1055:     for (i = 0; i < sc->slave->sii.sync_count; i++) {
fp@1055:         sync = &sc->slave->sii.syncs[i];
fp@1055: 
fp@1055:         list_for_each_entry(default_pdo, &sync->pdos.list, list) {
fp@1055:             if (default_pdo->index != pdo->index)
fp@1055:                 continue;
fp@1055: 
fp@1055:             if (default_pdo->name) {
fp@1921:                 EC_CONFIG_DBG(sc, 1, "Found PDO name \"%s\".\n",
fp@1921:                         default_pdo->name);
fp@1327: 
fp@1327:                 // take PDO name from assigned one
fp@1055:                 ec_pdo_set_name(pdo, default_pdo->name);
fp@1055:             }
fp@1055: 
fp@1327:             // copy entries (= default PDO mapping)
fp@1055:             if (ec_pdo_copy_entries(pdo, default_pdo))
fp@1055:                 return;
fp@1055: 
fp@1055:             if (sc->master->debug_level) {
fp@1055:                 const ec_pdo_entry_t *entry;
fp@1055:                 list_for_each_entry(entry, &pdo->entries, list) {
fp@1921:                     EC_CONFIG_DBG(sc, 1, "Entry 0x%04X:%02X.\n",
fp@1055:                             entry->index, entry->subindex);
fp@1055:                 }
fp@1055:             }
fp@1055: 
fp@842:             return;
fp@842:         }
fp@792:     }
fp@1055: 
fp@1921:     EC_CONFIG_DBG(sc, 1, "No default mapping found.\n");
fp@792: }
fp@792: 
fp@990: /*****************************************************************************/
fp@990: 
fp@1327: /** Get the number of SDO configurations.
fp@1327:  *
fp@1327:  * \return Number of SDO configurations.
fp@1092:  */
fp@990: unsigned int ec_slave_config_sdo_count(
fp@990:         const ec_slave_config_t *sc /**< Slave configuration. */
fp@990:         )
fp@990: {
fp@1507:     const ec_sdo_request_t *req;
fp@1507:     unsigned int count = 0;
fp@1507: 
fp@1507:     list_for_each_entry(req, &sc->sdo_configs, list) {
fp@1507:         count++;
fp@1507:     }
fp@1507: 
fp@1507:     return count;
fp@990: }
fp@990: 
fp@990: /*****************************************************************************/
fp@990: 
fp@1327: /** Finds an SDO configuration via its position in the list.
fp@990:  *
fp@990:  * Const version.
fp@990:  */
fp@990: const ec_sdo_request_t *ec_slave_config_get_sdo_by_pos_const(
fp@990:         const ec_slave_config_t *sc, /**< Slave configuration. */
fp@990:         unsigned int pos /**< Position in the list. */
fp@990:         )
fp@990: {
fp@990:     const ec_sdo_request_t *req;
fp@990: 
fp@990:     list_for_each_entry(req, &sc->sdo_configs, list) {
fp@990:         if (pos--)
fp@990:             continue;
fp@990:         return req;
fp@990:     }
fp@990: 
fp@990:     return NULL;
fp@990: }
fp@990: 
fp@1263: /*****************************************************************************/
fp@1263: 
fp@1263: /** Finds a VoE handler via its position in the list.
fp@1263:  */
fp@1351: ec_sdo_request_t *ec_slave_config_find_sdo_request(
fp@1351:         ec_slave_config_t *sc, /**< Slave configuration. */
fp@1351:         unsigned int pos /**< Position in the list. */
fp@1351:         )
fp@1351: {
fp@1351:     ec_sdo_request_t *req;
fp@1351: 
fp@1351:     list_for_each_entry(req, &sc->sdo_requests, list) {
fp@1351:         if (pos--)
fp@1351:             continue;
fp@1351:         return req;
fp@1351:     }
fp@1351: 
fp@1351:     return NULL;
fp@1351: }
fp@1351: 
fp@1351: /*****************************************************************************/
fp@1351: 
fp@1351: /** Finds a VoE handler via its position in the list.
fp@1351:  */
fp@1263: ec_voe_handler_t *ec_slave_config_find_voe_handler(
fp@1263:         ec_slave_config_t *sc, /**< Slave configuration. */
fp@1263:         unsigned int pos /**< Position in the list. */
fp@1263:         )
fp@1263: {
fp@1263:     ec_voe_handler_t *voe;
fp@1263: 
fp@1263:     list_for_each_entry(voe, &sc->voe_handlers, list) {
fp@1263:         if (pos--)
fp@1263:             continue;
fp@1263:         return voe;
fp@1263:     }
fp@1263: 
fp@1263:     return NULL;
fp@1263: }
fp@1263: 
fp@792: /******************************************************************************
fp@1392:  *  Application interface
fp@792:  *****************************************************************************/
fp@792: 
fp@1055: int ecrt_slave_config_sync_manager(ec_slave_config_t *sc, uint8_t sync_index,
fp@1509:         ec_direction_t dir, ec_watchdog_mode_t watchdog_mode)
fp@1055: {
fp@1055:     ec_sync_config_t *sync_config;
fp@1055:     
fp@1921:     EC_CONFIG_DBG(sc, 1, "ecrt_slave_config_sync_manager(sc = 0x%p,"
fp@1921:             " sync_index = %u, dir = %i, watchdog_mode = %i)\n",
fp@1921:             sc, sync_index, dir, watchdog_mode);
fp@1055: 
fp@1082:     if (sync_index >= EC_MAX_SYNC_MANAGERS) {
fp@1921:         EC_CONFIG_ERR(sc, "Invalid sync manager index %u!\n", sync_index);
fp@1313:         return -ENOENT;
fp@1055:     }
fp@1055: 
fp@1055:     if (dir != EC_DIR_OUTPUT && dir != EC_DIR_INPUT) {
fp@1931:         EC_CONFIG_ERR(sc, "Invalid direction %u!\n", (unsigned int) dir);
fp@1313:         return -EINVAL;
fp@1055:     }
fp@1055: 
fp@1055:     sync_config = &sc->sync_configs[sync_index];
fp@1055:     sync_config->dir = dir;
fp@1509:     sync_config->watchdog_mode = watchdog_mode;
fp@1055:     return 0;
fp@1055: }
fp@1055: 
fp@1055: /*****************************************************************************/
fp@1055: 
fp@1509: void ecrt_slave_config_watchdog(ec_slave_config_t *sc,
fp@1509:         uint16_t divider, uint16_t intervals)
fp@1509: {
fp@1921:     EC_CONFIG_DBG(sc, 1, "%s(sc = 0x%p, divider = %u, intervals = %u)\n",
fp@1921:             __func__, sc, divider, intervals);
fp@1509: 
fp@1509:     sc->watchdog_divider = divider;
fp@1509:     sc->watchdog_intervals = intervals;
fp@1509: }
fp@1509: 
fp@1509: /*****************************************************************************/
fp@1509: 
fp@879: int ecrt_slave_config_pdo_assign_add(ec_slave_config_t *sc,
fp@1055:         uint8_t sync_index, uint16_t pdo_index)
fp@1055: {
fp@842:     ec_pdo_t *pdo;
fp@1055: 
fp@1921:     EC_CONFIG_DBG(sc, 1, "%s(sc = 0x%p, sync_index = %u, "
fp@1921:             "pdo_index = 0x%04X)\n", __func__, sc, sync_index, pdo_index);
fp@1055: 
fp@1082:     if (sync_index >= EC_MAX_SYNC_MANAGERS) {
fp@1921:         EC_CONFIG_ERR(sc, "Invalid sync manager index %u!\n", sync_index);
fp@1313:         return -EINVAL;
fp@1055:     }
fp@1055: 
fp@1075:     down(&sc->master->master_sem);
fp@1075: 
fp@1313:     pdo = ec_pdo_list_add_pdo(&sc->sync_configs[sync_index].pdos, pdo_index);
fp@1313:     if (IS_ERR(pdo)) {
fp@1075:         up(&sc->master->master_sem);
fp@1313:         return PTR_ERR(pdo);
fp@1075:     }
fp@1055:     pdo->sync_index = sync_index;
fp@842: 
fp@879:     ec_slave_config_load_default_mapping(sc, pdo);
fp@1075: 
fp@1075:     up(&sc->master->master_sem);
fp@842:     return 0;
fp@842: }
fp@842: 
fp@842: /*****************************************************************************/
fp@842: 
fp@879: void ecrt_slave_config_pdo_assign_clear(ec_slave_config_t *sc,
fp@1055:         uint8_t sync_index)
fp@1055: {
fp@1921:     EC_CONFIG_DBG(sc, 1, "%s(sc = 0x%p, sync_index = %u)\n",
fp@1921:             __func__, sc, sync_index);
fp@1055: 
fp@1082:     if (sync_index >= EC_MAX_SYNC_MANAGERS) {
fp@1921:         EC_CONFIG_ERR(sc, "Invalid sync manager index %u!\n", sync_index);
fp@1055:         return;
fp@1055:     }
fp@1055: 
fp@1075:     down(&sc->master->master_sem);
fp@1055:     ec_pdo_list_clear_pdos(&sc->sync_configs[sync_index].pdos);
fp@1075:     up(&sc->master->master_sem);
fp@879: }
fp@879: 
fp@879: /*****************************************************************************/
fp@879: 
fp@879: int ecrt_slave_config_pdo_mapping_add(ec_slave_config_t *sc,
fp@879:         uint16_t pdo_index, uint16_t entry_index, uint8_t entry_subindex,
fp@842:         uint8_t entry_bit_length)
fp@842: {
fp@1055:     uint8_t sync_index;
fp@1055:     ec_pdo_t *pdo = NULL;
fp@1313:     ec_pdo_entry_t *entry;
fp@1313:     int retval = 0;
fp@842:     
fp@1921:     EC_CONFIG_DBG(sc, 1, "%s(sc = 0x%p, "
fp@1921:             "pdo_index = 0x%04X, entry_index = 0x%04X, "
fp@1921:             "entry_subindex = 0x%02X, entry_bit_length = %u)\n",
fp@1921:             __func__, sc, pdo_index, entry_index, entry_subindex,
fp@1921:             entry_bit_length);
fp@1055: 
fp@1082:     for (sync_index = 0; sync_index < EC_MAX_SYNC_MANAGERS; sync_index++)
fp@1055:         if ((pdo = ec_pdo_list_find_pdo(
fp@1055:                         &sc->sync_configs[sync_index].pdos, pdo_index)))
fp@842:             break;
fp@842: 
fp@1075:     if (pdo) {
fp@1075:         down(&sc->master->master_sem);
fp@1313:         entry = ec_pdo_add_entry(pdo, entry_index, entry_subindex,
fp@1313:                 entry_bit_length);
fp@1075:         up(&sc->master->master_sem);
fp@1313:         if (IS_ERR(entry))
fp@1313:             retval = PTR_ERR(entry);
fp@1075:     } else {
fp@1921:         EC_CONFIG_ERR(sc, "PDO 0x%04X is not assigned.\n", pdo_index);
fp@1313:         retval = -ENOENT; 
fp@1075:     }
fp@1075: 
fp@1075:     return retval;
fp@842: }
fp@842: 
fp@842: /*****************************************************************************/
fp@842: 
fp@879: void ecrt_slave_config_pdo_mapping_clear(ec_slave_config_t *sc,
fp@879:         uint16_t pdo_index)
fp@879: {
fp@1055:     uint8_t sync_index;
fp@1055:     ec_pdo_t *pdo = NULL;
fp@879:     
fp@1921:     EC_CONFIG_DBG(sc, 1, "%s(sc = 0x%p, pdo_index = 0x%04X)\n",
fp@1921:             __func__, sc, pdo_index);
fp@1055: 
fp@1082:     for (sync_index = 0; sync_index < EC_MAX_SYNC_MANAGERS; sync_index++)
fp@1055:         if ((pdo = ec_pdo_list_find_pdo(
fp@1055:                         &sc->sync_configs[sync_index].pdos, pdo_index)))
fp@879:             break;
fp@879: 
fp@1075:     if (pdo) {
fp@1075:         down(&sc->master->master_sem);
fp@1075:         ec_pdo_clear_entries(pdo);
fp@1075:         up(&sc->master->master_sem);
fp@1075:     } else {
fp@1921:         EC_CONFIG_WARN(sc, "PDO 0x%04X is not assigned.\n", pdo_index);
fp@1075:     }
fp@879: }
fp@879: 
fp@879: /*****************************************************************************/
fp@879: 
fp@1082: int ecrt_slave_config_pdos(ec_slave_config_t *sc,
fp@1055:         unsigned int n_syncs, const ec_sync_info_t syncs[])
fp@1055: {
fp@1313:     int ret;
fp@1055:     unsigned int i, j, k;
fp@1055:     const ec_sync_info_t *sync_info;
fp@1055:     const ec_pdo_info_t *pdo_info;
fp@1055:     const ec_pdo_entry_info_t *entry_info;
fp@1055: 
fp@1921:     EC_CONFIG_DBG(sc, 1, "%s(sc = 0x%p, n_syncs = %u, syncs = 0x%p)\n",
fp@1921:             __func__, sc, n_syncs, syncs);
fp@1055: 
fp@1055:     if (!syncs)
ha@1054:         return 0;
ha@1054: 
fp@1055:     for (i = 0; i < n_syncs; i++) {
fp@1055:         sync_info = &syncs[i];
fp@1055: 
fp@1097:         if (sync_info->index == (uint8_t) EC_END)
fp@878:             break;
fp@878: 
fp@1082:         if (sync_info->index >= EC_MAX_SYNC_MANAGERS) {
fp@1921:             EC_CONFIG_ERR(sc, "Invalid sync manager index %u!\n",
fp@1921:                     sync_info->index);
fp@1313:             return -ENOENT;
fp@879:         }
fp@879: 
fp@1509:         ret = ecrt_slave_config_sync_manager(sc, sync_info->index,
fp@1509:                 sync_info->dir, sync_info->watchdog_mode);
fp@1313:         if (ret)
fp@1313:             return ret;
fp@879: 
fp@1055:         if (sync_info->n_pdos && sync_info->pdos) {
fp@1055:             ecrt_slave_config_pdo_assign_clear(sc, sync_info->index);
fp@1055: 
fp@1055:             for (j = 0; j < sync_info->n_pdos; j++) {
fp@1055:                 pdo_info = &sync_info->pdos[j];
fp@1055: 
fp@1313:                 ret = ecrt_slave_config_pdo_assign_add(
fp@1313:                         sc, sync_info->index, pdo_info->index);
fp@1313:                 if (ret)
fp@1313:                     return ret;
fp@1055: 
fp@1055:                 if (pdo_info->n_entries && pdo_info->entries) {
fp@1055:                     ecrt_slave_config_pdo_mapping_clear(sc, pdo_info->index);
fp@1055: 
fp@1055:                     for (k = 0; k < pdo_info->n_entries; k++) {
fp@1055:                         entry_info = &pdo_info->entries[k];
fp@1055: 
fp@1313:                         ret = ecrt_slave_config_pdo_mapping_add(sc,
fp@1313:                                 pdo_info->index, entry_info->index,
fp@1313:                                 entry_info->subindex,
fp@1313:                                 entry_info->bit_length);
fp@1313:                         if (ret)
fp@1313:                             return ret;
fp@1055:                     }
fp@1055:                 }
fp@842:             }
fp@842:         }
fp@842:     }
fp@842: 
fp@792:     return 0;
fp@792: }
fp@792: 
fp@792: /*****************************************************************************/
fp@792: 
fp@807: int ecrt_slave_config_reg_pdo_entry(
ha@923:         ec_slave_config_t *sc,
ha@923:         uint16_t index,
ha@923:         uint8_t subindex,
ha@923:         ec_domain_t *domain,
fp@925:         unsigned int *bit_position
fp@916:         )
fp@916: {
fp@1055:     uint8_t sync_index;
fp@1055:     const ec_sync_config_t *sync_config;
fp@925:     unsigned int bit_offset, bit_pos;
fp@807:     ec_pdo_t *pdo;
fp@807:     ec_pdo_entry_t *entry;
ha@923:     int sync_offset;
fp@807: 
fp@1921:     EC_CONFIG_DBG(sc, 1, "%s(sc = 0x%p, index = 0x%04X, "
fp@1921:             "subindex = 0x%02X, domain = 0x%p, bit_position = 0x%p)\n",
fp@1921:             __func__, sc, index, subindex, domain, bit_position);
fp@1055: 
fp@1082:     for (sync_index = 0; sync_index < EC_MAX_SYNC_MANAGERS; sync_index++) {
fp@1055:         sync_config = &sc->sync_configs[sync_index];
fp@807:         bit_offset = 0;
fp@1055: 
fp@1055:         list_for_each_entry(pdo, &sync_config->pdos.list, list) {
fp@807:             list_for_each_entry(entry, &pdo->entries, list) {
fp@807:                 if (entry->index != index || entry->subindex != subindex) {
fp@807:                     bit_offset += entry->bit_length;
fp@807:                 } else {
fp@1055:                     bit_pos = bit_offset % 8;
fp@1055:                     if (bit_position) {
fp@1055:                         *bit_position = bit_pos;
fp@1055:                     } else if (bit_pos) {
fp@1921:                         EC_CONFIG_ERR(sc, "PDO entry 0x%04X:%02X does"
fp@1921:                                 " not byte-align.\n", index, subindex);
fp@1313:                         return -EFAULT;
fp@1055:                     }
fp@1055: 
fp@1075:                     sync_offset = ec_slave_config_prepare_fmmu(
fp@1075:                             sc, domain, sync_index, sync_config->dir);
fp@1075:                     if (sync_offset < 0)
fp@1313:                         return sync_offset;
fp@1075: 
fp@1055:                     return sync_offset + bit_offset / 8;
fp@807:                 }
fp@807:             }
fp@807:         }
fp@807:     }
fp@807: 
fp@1921:     EC_CONFIG_ERR(sc, "PDO entry 0x%04X:%02X is not mapped.\n",
fp@1921:            index, subindex);
fp@1313:     return -ENOENT;
ha@924: }
ha@923: 
fp@1392: /*****************************************************************************/
fp@1392: 
fp@1448: void ecrt_slave_config_dc(ec_slave_config_t *sc, uint16_t assign_activate,
fp@1438:         uint32_t sync0_cycle_time, uint32_t sync0_shift_time,
fp@1438:         uint32_t sync1_cycle_time, uint32_t sync1_shift_time)
fp@1438: {
fp@1507:     sc->dc_assign_activate = assign_activate;
fp@1507:     sc->dc_sync[0].cycle_time = sync0_cycle_time;
fp@1507:     sc->dc_sync[0].shift_time = sync0_shift_time;
fp@1507:     sc->dc_sync[1].cycle_time = sync1_cycle_time;
fp@1507:     sc->dc_sync[1].shift_time = sync1_shift_time;
fp@1412: }
fp@1412: 
fp@1412: /*****************************************************************************/
fp@1412: 
fp@893: int ecrt_slave_config_sdo(ec_slave_config_t *sc, uint16_t index,
fp@893:         uint8_t subindex, const uint8_t *data, size_t size)
fp@893: {
fp@893:     ec_slave_t *slave = sc->slave;
fp@893:     ec_sdo_request_t *req;
fp@1313:     int ret;
fp@893: 
fp@1921:     EC_CONFIG_DBG(sc, 1, "%s(sc = 0x%p, index = 0x%04X, "
fp@1921:             "subindex = 0x%02X, data = 0x%p, size = %zu)\n",
fp@1921:             __func__, sc, index, subindex, data, size);
fp@1115: 
fp@893:     if (slave && !(slave->sii.mailbox_protocols & EC_MBOX_COE)) {
fp@1921:         EC_CONFIG_WARN(sc, "Attached slave does not support CoE!\n");
fp@893:     }
fp@893: 
fp@893:     if (!(req = (ec_sdo_request_t *)
fp@893:           kmalloc(sizeof(ec_sdo_request_t), GFP_KERNEL))) {
fp@1921:         EC_CONFIG_ERR(sc, "Failed to allocate memory for"
fp@1921:                 " SDO configuration!\n");
fp@1313:         return -ENOMEM;
fp@893:     }
fp@893: 
fp@893:     ec_sdo_request_init(req);
fp@893:     ec_sdo_request_address(req, index, subindex);
fp@893: 
fp@1313:     ret = ec_sdo_request_copy_data(req, data, size);
fp@1313:     if (ret < 0) {
fp@893:         ec_sdo_request_clear(req);
fp@893:         kfree(req);
fp@1313:         return ret;
fp@893:     }
fp@893:         
fp@1075:     down(&sc->master->master_sem);
fp@893:     list_add_tail(&req->list, &sc->sdo_configs);
fp@1075:     up(&sc->master->master_sem);
fp@893:     return 0;
fp@893: }
fp@893: 
fp@893: /*****************************************************************************/
fp@893: 
fp@893: int ecrt_slave_config_sdo8(ec_slave_config_t *sc, uint16_t index,
fp@792:         uint8_t subindex, uint8_t value)
fp@792: {
fp@792:     uint8_t data[1];
fp@1115: 
fp@1921:     EC_CONFIG_DBG(sc, 1, "%s(sc = 0x%p, index = 0x%04X, "
fp@1921:             "subindex = 0x%02X, value = %u)\n",
fp@1931:             __func__, sc, index, subindex, (unsigned int) value);
fp@1115: 
fp@792:     EC_WRITE_U8(data, value);
fp@893:     return ecrt_slave_config_sdo(sc, index, subindex, data, 1);
fp@893: }
fp@893: 
fp@893: /*****************************************************************************/
fp@893: 
fp@893: int ecrt_slave_config_sdo16(ec_slave_config_t *sc, uint16_t index,
fp@792:         uint8_t subindex, uint16_t value)
fp@792: {
fp@792:     uint8_t data[2];
fp@1115: 
fp@1921:     EC_CONFIG_DBG(sc, 1, "%s(sc = 0x%p, index = 0x%04X, "
fp@1921:             "subindex = 0x%02X, value = %u)\n",
fp@1921:             __func__, sc, index, subindex, value);
fp@1115: 
fp@792:     EC_WRITE_U16(data, value);
fp@893:     return ecrt_slave_config_sdo(sc, index, subindex, data, 2);
fp@893: }
fp@893: 
fp@893: /*****************************************************************************/
fp@893: 
fp@893: int ecrt_slave_config_sdo32(ec_slave_config_t *sc, uint16_t index,
fp@792:         uint8_t subindex, uint32_t value)
fp@792: {
fp@792:     uint8_t data[4];
fp@1115: 
fp@1921:     EC_CONFIG_DBG(sc, 1, "%s(sc = 0x%p, index = 0x%04X, "
fp@1921:             "subindex = 0x%02X, value = %u)\n",
fp@1921:             __func__, sc, index, subindex, value);
fp@1115: 
fp@792:     EC_WRITE_U32(data, value);
fp@893:     return ecrt_slave_config_sdo(sc, index, subindex, data, 4);
fp@792: }
fp@792: 
fp@792: /*****************************************************************************/
fp@792: 
fp@1526: int ecrt_slave_config_complete_sdo(ec_slave_config_t *sc, uint16_t index,
fp@1526:         const uint8_t *data, size_t size)
fp@1526: {
fp@1526:     ec_slave_t *slave = sc->slave;
fp@1526:     ec_sdo_request_t *req;
fp@1526:     int ret;
fp@1526: 
fp@1921:     EC_CONFIG_DBG(sc, 1, "%s(sc = 0x%p, index = 0x%04X, "
fp@1921:             "data = 0x%p, size = %zu)\n", __func__, sc, index, data, size);
fp@1526: 
fp@1526:     if (slave && !(slave->sii.mailbox_protocols & EC_MBOX_COE)) {
fp@1921:         EC_CONFIG_WARN(sc, "Attached slave does not support CoE!\n");
fp@1526:     }
fp@1526: 
fp@1526:     if (!(req = (ec_sdo_request_t *)
fp@1526:           kmalloc(sizeof(ec_sdo_request_t), GFP_KERNEL))) {
fp@1921:         EC_CONFIG_ERR(sc, "Failed to allocate memory for"
fp@1921:                 " SDO configuration!\n");
fp@1526:         return -ENOMEM;
fp@1526:     }
fp@1526: 
fp@1526:     ec_sdo_request_init(req);
fp@1526:     ec_sdo_request_address(req, index, 0);
fp@1526:     req->complete_access = 1;
fp@1526: 
fp@1526:     ret = ec_sdo_request_copy_data(req, data, size);
fp@1526:     if (ret < 0) {
fp@1526:         ec_sdo_request_clear(req);
fp@1526:         kfree(req);
fp@1526:         return ret;
fp@1526:     }
fp@1526:         
fp@1526:     down(&sc->master->master_sem);
fp@1526:     list_add_tail(&req->list, &sc->sdo_configs);
fp@1526:     up(&sc->master->master_sem);
fp@1526:     return 0;
fp@1526: }
fp@1526: 
fp@1526: /*****************************************************************************/
fp@1526: 
fp@1332: /** Same as ecrt_slave_config_create_sdo_request(), but with ERR_PTR() return
fp@1332:  * value.
fp@1332:  */
fp@1312: ec_sdo_request_t *ecrt_slave_config_create_sdo_request_err(
fp@1312:         ec_slave_config_t *sc, uint16_t index, uint8_t subindex, size_t size)
fp@858: {
fp@858:     ec_sdo_request_t *req;
fp@1312:     int ret;
fp@858: 
fp@1921:     EC_CONFIG_DBG(sc, 1, "%s(sc = 0x%p, "
fp@1921:             "index = 0x%04X, subindex = 0x%02X, size = %zu)\n",
fp@1921:             __func__, sc, index, subindex, size);
fp@1181: 
fp@858:     if (!(req = (ec_sdo_request_t *)
fp@858:                 kmalloc(sizeof(ec_sdo_request_t), GFP_KERNEL))) {
fp@1921:         EC_CONFIG_ERR(sc, "Failed to allocate SDO request memory!\n");
fp@1312:         return ERR_PTR(-ENOMEM);
fp@858:     }
fp@858: 
fp@858:     ec_sdo_request_init(req);
fp@858:     ec_sdo_request_address(req, index, subindex);
fp@858: 
fp@1312:     ret = ec_sdo_request_alloc(req, size);
fp@1312:     if (ret < 0) {
fp@858:         ec_sdo_request_clear(req);
fp@858:         kfree(req);
fp@1312:         return ERR_PTR(ret);
fp@858:     }
fp@859: 
fp@859:     // prepare data for optional writing
fp@859:     memset(req->data, 0x00, size);
fp@859:     req->data_size = size;
fp@858:     
fp@1075:     down(&sc->master->master_sem);
fp@858:     list_add_tail(&req->list, &sc->sdo_requests);
fp@1075:     up(&sc->master->master_sem);
fp@1075: 
fp@858:     return req; 
fp@858: }
fp@858: 
fp@858: /*****************************************************************************/
fp@858: 
fp@1312: ec_sdo_request_t *ecrt_slave_config_create_sdo_request(
fp@1312:         ec_slave_config_t *sc, uint16_t index, uint8_t subindex, size_t size)
fp@1312: {
fp@1312:     ec_sdo_request_t *s = ecrt_slave_config_create_sdo_request_err(sc, index,
fp@1312:             subindex, size);
fp@1312:     return IS_ERR(s) ? NULL : s;
fp@1312: }
fp@1312: 
fp@1312: /*****************************************************************************/
fp@1312: 
fp@1332: /** Same as ecrt_slave_config_create_voe_handler(), but with ERR_PTR() return
fp@1332:  * value.
fp@1332:  */
fp@1312: ec_voe_handler_t *ecrt_slave_config_create_voe_handler_err(
fp@1312:         ec_slave_config_t *sc, size_t size)
fp@1209: {
fp@1209:     ec_voe_handler_t *voe;
fp@1312:     int ret;
fp@1209: 
fp@1921:     EC_CONFIG_DBG(sc, 1, "%s(sc = 0x%p, size = %zu)\n", __func__, sc, size);
fp@1209: 
fp@1209:     if (!(voe = (ec_voe_handler_t *)
fp@1209:                 kmalloc(sizeof(ec_voe_handler_t), GFP_KERNEL))) {
fp@1921:         EC_CONFIG_ERR(sc, "Failed to allocate VoE request memory!\n");
fp@1312:         return ERR_PTR(-ENOMEM);
fp@1312:     }
fp@1312: 
fp@1312:     ret = ec_voe_handler_init(voe, sc, size);
fp@1312:     if (ret < 0) {
fp@1209:         kfree(voe);
fp@1312:         return ERR_PTR(ret);
fp@1209:     }
fp@1209: 
fp@1209:     down(&sc->master->master_sem);
fp@1209:     list_add_tail(&voe->list, &sc->voe_handlers);
fp@1209:     up(&sc->master->master_sem);
fp@1209: 
fp@1209:     return voe; 
fp@1209: }
fp@1209: 
fp@1209: /*****************************************************************************/
fp@1209: 
fp@1312: ec_voe_handler_t *ecrt_slave_config_create_voe_handler(
fp@1312:         ec_slave_config_t *sc, size_t size)
fp@1312: {
fp@1312:     ec_voe_handler_t *voe = ecrt_slave_config_create_voe_handler_err(sc,
fp@1312:             size);
fp@1312:     return IS_ERR(voe) ? NULL : voe;
fp@1312: }
fp@1312: 
fp@1312: /*****************************************************************************/
fp@1312: 
fp@1022: void ecrt_slave_config_state(const ec_slave_config_t *sc,
fp@1022:         ec_slave_config_state_t *state)
fp@1022: {
fp@1022:     state->online = sc->slave ? 1 : 0;
fp@1022:     if (state->online) {
fp@1022:         state->operational =
fp@1277:             sc->slave->current_state == EC_SLAVE_STATE_OP
fp@1277:             && !sc->slave->force_config;
fp@1022:         state->al_state = sc->slave->current_state;
fp@1022:     } else {
fp@1022:         state->operational = 0;
fp@1022:         state->al_state = EC_SLAVE_STATE_UNKNOWN;
fp@1022:     }
fp@1022: }
fp@1022: 
fp@1022: /*****************************************************************************/
fp@1022: 
fp@1844: int ecrt_slave_config_idn(ec_slave_config_t *sc, uint16_t idn,
fp@1873:         const uint8_t *data, size_t size)
fp@1844: {
fp@1844:     ec_slave_t *slave = sc->slave;
fp@1844:     ec_soe_request_t *req;
fp@1844:     int ret;
fp@1844: 
fp@1921:     EC_CONFIG_DBG(sc, 1, "%s(sc = 0x%p, idn = 0x%04X, "
fp@1921:             "data = 0x%p, size = %zu)\n", __func__, sc, idn, data, size);
fp@1844: 
fp@1844:     if (slave && !(slave->sii.mailbox_protocols & EC_MBOX_SOE)) {
fp@1921:         EC_CONFIG_WARN(sc, "Attached slave does not support SoE!\n");
fp@1844:     }
fp@1844: 
fp@1844:     if (!(req = (ec_soe_request_t *)
fp@1844:           kmalloc(sizeof(ec_soe_request_t), GFP_KERNEL))) {
fp@1921:         EC_CONFIG_ERR(sc, "Failed to allocate memory for"
fp@1921:                 " IDN configuration!\n");
fp@1844:         return -ENOMEM;
fp@1844:     }
fp@1844: 
fp@1844:     ec_soe_request_init(req);
fp@1844:     ec_soe_request_set_idn(req, idn);
fp@1844: 
fp@1844:     ret = ec_soe_request_copy_data(req, data, size);
fp@1844:     if (ret < 0) {
fp@1844:         ec_soe_request_clear(req);
fp@1844:         kfree(req);
fp@1844:         return ret;
fp@1844:     }
fp@1844:         
fp@1844:     down(&sc->master->master_sem);
fp@1844:     list_add_tail(&req->list, &sc->soe_configs);
fp@1844:     up(&sc->master->master_sem);
fp@1844:     return 0;
fp@1844: }
fp@1844: 
fp@1844: /*****************************************************************************/
fp@1844: 
fp@792: /** \cond */
fp@792: 
fp@1055: EXPORT_SYMBOL(ecrt_slave_config_sync_manager);
fp@1509: EXPORT_SYMBOL(ecrt_slave_config_watchdog);
fp@879: EXPORT_SYMBOL(ecrt_slave_config_pdo_assign_add);
fp@879: EXPORT_SYMBOL(ecrt_slave_config_pdo_assign_clear);
fp@879: EXPORT_SYMBOL(ecrt_slave_config_pdo_mapping_add);
fp@879: EXPORT_SYMBOL(ecrt_slave_config_pdo_mapping_clear);
fp@1082: EXPORT_SYMBOL(ecrt_slave_config_pdos);
fp@807: EXPORT_SYMBOL(ecrt_slave_config_reg_pdo_entry);
fp@1448: EXPORT_SYMBOL(ecrt_slave_config_dc);
fp@893: EXPORT_SYMBOL(ecrt_slave_config_sdo);
fp@792: EXPORT_SYMBOL(ecrt_slave_config_sdo8);
fp@792: EXPORT_SYMBOL(ecrt_slave_config_sdo16);
fp@792: EXPORT_SYMBOL(ecrt_slave_config_sdo32);
fp@1526: EXPORT_SYMBOL(ecrt_slave_config_complete_sdo);
fp@858: EXPORT_SYMBOL(ecrt_slave_config_create_sdo_request);
fp@1215: EXPORT_SYMBOL(ecrt_slave_config_create_voe_handler);
fp@1022: EXPORT_SYMBOL(ecrt_slave_config_state);
fp@1844: EXPORT_SYMBOL(ecrt_slave_config_idn);
fp@792: 
fp@792: /** \endcond */
fp@792: 
fp@792: /*****************************************************************************/