slave.c

/******************************************************************************
 *
 *  $Id$
 *
 *  Copyright (C) 2006  Florian Pose, Ingenieurgemeinschaft IgH
 *
 *  This file is part of the IgH EtherCAT Master.
 *
 *  The IgH EtherCAT Master is free software; you can redistribute it
 *  and/or modify it under the terms of the GNU General Public License
 *  as published by the Free Software Foundation; either version 2 of the
 *  License, or (at your option) any later version.
 *
 *  The IgH EtherCAT Master is distributed in the hope that it will be
 *  useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 *  GNU General Public License for more details.
 *
 *  You should have received a copy of the GNU General Public License
 *  along with the IgH EtherCAT Master; if not, write to the Free Software
 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
 *
 *  The right to use EtherCAT Technology is granted and comes free of
 *  charge under condition of compatibility of product made by
 *  Licensee. People intending to distribute/sell products based on the
 *  code, have to sign an agreement to guarantee that products using
 *  software based on IgH EtherCAT master stay compatible with the actual
 *  EtherCAT specification (which are released themselves as an open
 *  standard) as the (only) precondition to have the right to use EtherCAT
 *  Technology, IP and trade marks.
 *
 *****************************************************************************/

/**
   \file
   EtherCAT slave methods.
*/

/*****************************************************************************/

#include <linux/module.h>
#include <linux/delay.h>

#include "globals.h"
#include "datagram.h"
#include "master.h"
#include "slave_config.h"

#include "slave.h"

/*****************************************************************************/

extern const ec_code_msg_t al_status_messages[];

/*****************************************************************************/

void ec_slave_clear(struct kobject *);
void ec_slave_sdos_clear(struct kobject *);
ssize_t ec_show_slave_attribute(struct kobject *, struct attribute *, char *);
ssize_t ec_store_slave_attribute(struct kobject *, struct attribute *,
                                 const char *, size_t);
char *ec_slave_sii_string(ec_slave_t *, unsigned int);

/*****************************************************************************/

/** \cond */

EC_SYSFS_READ_ATTR(info);
EC_SYSFS_READ_WRITE_ATTR(state);
EC_SYSFS_READ_WRITE_ATTR(sii);
EC_SYSFS_READ_WRITE_ATTR(alias);

static struct attribute *def_attrs[] = {
    &attr_info,
    &attr_state,
    &attr_sii,
    &attr_alias,
    NULL,
};

static struct sysfs_ops sysfs_ops = {
    .show = ec_show_slave_attribute,
    .store = ec_store_slave_attribute
};

static struct kobj_type ktype_ec_slave = {
    .release = ec_slave_clear,
    .sysfs_ops = &sysfs_ops,
    .default_attrs = def_attrs
};

static struct kobj_type ktype_ec_slave_sdos = {
    .release = ec_slave_sdos_clear
};

/** \endcond */

/*****************************************************************************/

/**
   Slave constructor.
   \return 0 in case of success, else < 0
*/

int ec_slave_init(ec_slave_t *slave, /**< EtherCAT slave */
                  ec_master_t *master, /**< EtherCAT master */
                  uint16_t ring_position, /**< ring position */
                  uint16_t station_address /**< station address to configure */
                  )
{
    unsigned int i;

    slave->ring_position = ring_position;
    slave->station_address = station_address;

    slave->master = master;

    slave->config = NULL;
    slave->requested_state = EC_SLAVE_STATE_PREOP;
    slave->current_state = EC_SLAVE_STATE_UNKNOWN;
    slave->online_state = EC_SLAVE_ONLINE;
    slave->self_configured = 0;
    slave->error_flag = 0;

    slave->base_type = 0;
    slave->base_revision = 0;
    slave->base_build = 0;
    slave->base_fmmu_count = 0;

    slave->sii_data = NULL;
    slave->sii_size = 0;

    slave->sii.alias = 0;
    slave->sii.vendor_id = 0;
    slave->sii.product_code = 0;
    slave->sii.revision_number = 0;
    slave->sii.serial_number = 0;
    slave->sii.rx_mailbox_offset = 0;
    slave->sii.rx_mailbox_size = 0;
    slave->sii.tx_mailbox_offset = 0;
    slave->sii.tx_mailbox_size = 0;
    slave->sii.mailbox_protocols = 0;

    slave->sii.strings = NULL;
    slave->sii.string_count = 0;

    slave->sii.has_general = 0;
    slave->sii.group = NULL;
    slave->sii.image = NULL;
    slave->sii.order = NULL;
    slave->sii.name = NULL;
    memset(&slave->sii.coe_details, 0x00, sizeof(ec_sii_coe_details_t));
    memset(&slave->sii.general_flags, 0x00, sizeof(ec_sii_general_flags_t));
    slave->sii.current_on_ebus = 0;

    slave->sii.syncs = NULL;
    slave->sii.sync_count = 0;

    INIT_LIST_HEAD(&slave->sii.pdos);

    INIT_LIST_HEAD(&slave->sdo_dictionary);

    slave->sdo_dictionary_fetched = 0;
    slave->jiffies_preop = 0;

    for (i = 0; i < 4; i++) {
        slave->dl_link[i] = 0;
        slave->dl_loop[i] = 0;
        slave->dl_signal[i] = 0;
        slave->sii.physical_layer[i] = 0xFF;
    }

    // init kobject and add it to the hierarchy
    memset(&slave->kobj, 0x00, sizeof(struct kobject));
    kobject_init(&slave->kobj);
    slave->kobj.ktype = &ktype_ec_slave;
    slave->kobj.parent = &master->kobj;
    if (kobject_set_name(&slave->kobj, "slave%03i", slave->ring_position)) {
        EC_ERR("Failed to set kobject name.\n");
        goto out_slave_put;
    }
    if (kobject_add(&slave->kobj)) {
        EC_ERR("Failed to add slave's kobject.\n");
        goto out_slave_put;
    }

    // init Sdo kobject and add it to the hierarchy
    memset(&slave->sdo_kobj, 0x00, sizeof(struct kobject));
    kobject_init(&slave->sdo_kobj);
    slave->sdo_kobj.ktype = &ktype_ec_slave_sdos;
    slave->sdo_kobj.parent = &slave->kobj;
    if (kobject_set_name(&slave->sdo_kobj, "sdos")) {
        EC_ERR("Failed to set kobject name.\n");
        goto out_sdo_put;
    }
    if (kobject_add(&slave->sdo_kobj)) {
        EC_ERR("Failed to add Sdos kobject.\n");
        goto out_sdo_put;
    }