/******************************************************************************
*
* $Id$
*
* 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 "slave.h"
#include "datagram.h"
#include "master.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(eeprom);
EC_SYSFS_READ_WRITE_ATTR(alias);
static struct attribute *def_attrs[] = {
&attr_info,
&attr_state,
&attr_eeprom,
&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->requested_state = EC_SLAVE_STATE_PREOP;
slave->current_state = EC_SLAVE_STATE_UNKNOWN;
slave->self_configured = 0;
slave->error_flag = 0;
slave->online_state = EC_SLAVE_ONLINE;
slave->fmmu_count = 0;
slave->pdos_registered = 0;
slave->base_type = 0;
slave->base_revision = 0;
slave->base_build = 0;
slave->base_fmmu_count = 0;
slave->eeprom_data = NULL;
slave->eeprom_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_group = NULL;
slave->sii_image = NULL;
slave->sii_order = NULL;
slave->sii_name = NULL;
slave->sii_current_on_ebus = 0;
slave->sii_strings = NULL;
slave->sii_string_count = 0;
slave->sii_syncs = NULL;
slave->sii_sync_count = 0;
INIT_LIST_HEAD(&slave->sii_pdos);
INIT_LIST_HEAD(&slave->sdo_dictionary);
INIT_LIST_HEAD(&slave->sdo_confs);
slave->sdo_dictionary_fetched = 0;
slave->pdo_mapping_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;
}
return 0;
out_sdo_put:
kobject_put(&slave->sdo_kobj);
kobject_del(&slave->kobj);
out_slave_put:
kobject_put(&slave->kobj);
return -1;
}
/*****************************************************************************/
/**
Slave destructor.
Clears and frees a slave object.
*/
void ec_slave_destroy(ec_slave_t *slave /**< EtherCAT slave */)
{
ec_sdo_t *sdo, *next_sdo;
// free all SDOs
list_for_each_entry_safe(sdo, next_sdo, &slave->sdo_dictionary, list) {
list_del(&sdo->list);
ec_sdo_destroy(sdo);
}
// free SDO kobject
kobject_del(&slave->sdo_kobj);
kobject_put(&slave->sdo_kobj);
// destroy self
kobject_del(&slave->kobj);
kobject_put(&slave->kobj);
}
/*****************************************************************************/
/**
Clear and free slave.
This method is called by the kobject,
once there are no more references to it.
*/
void ec_slave_clear(struct kobject *kobj /**< kobject of the slave */)
{
ec_slave_t *slave;
ec_pdo_t *pdo, *next_pdo;
ec_sdo_data_t *sdodata, *next_sdodata;
unsigned int i;
slave = container_of(kobj, ec_slave_t, kobj);
// free all strings
if (slave->sii_strings) {
for (i = 0; i < slave->sii_string_count; i++)
kfree(slave->sii_strings[i]);
kfree(slave->sii_strings);
}
// free all sync managers
if (slave->sii_syncs) {
for (i = 0; i < slave->sii_sync_count; i++) {
ec_sync_clear(&slave->sii_syncs[i]);
}
kfree(slave->sii_syncs);
}
// free all SII PDOs
list_for_each_entry_safe(pdo, next_pdo, &slave->sii_pdos, list) {
list_del(&pdo->list);
ec_pdo_clear(pdo);
kfree(pdo);
}
// free all SDO configurations
list_for_each_entry_safe(sdodata, next_sdodata, &slave->sdo_confs, list) {
list_del(&sdodata->list);
kfree(sdodata->data);
kfree(sdodata);
}
if (slave->eeprom_data) kfree(slave->eeprom_data);
kfree(slave);
}
/*****************************************************************************/
/**
* SDO kobject clear method.
*/
void ec_slave_sdos_clear(struct kobject *kobj /**< kobject for SDOs */)
{
}
/*****************************************************************************/
/**
Reset slave from operation mode.
*/
void ec_slave_reset(ec_slave_t *slave /**< EtherCAT slave */)
{
ec_sdo_data_t *sdodata, *next_sdodata;
unsigned int i;
slave->fmmu_count = 0;
slave->pdos_registered = 0;
// free all SDO configurations
list_for_each_entry_safe(sdodata, next_sdodata, &slave->sdo_confs, list) {
list_del(&sdodata->list);
kfree(sdodata->data);
kfree(sdodata);
}
// remove estimated sync manager sizes
for (i = 0; i < slave->sii_sync_count; i++) {
slave->sii_syncs[i].est_length = 0;
}
}
/*****************************************************************************/
/**
* Sets the application state of a slave.
*/
void ec_slave_set_state(ec_slave_t *slave, /**< EtherCAT slave */
ec_slave_state_t new_state /**< new application state */
)
{
if (new_state != slave->current_state) {
if (slave->master->debug_level) {
char old_state[EC_STATE_STRING_SIZE],
cur_state[EC_STATE_STRING_SIZE];
ec_state_string(slave->current_state, old_state);
ec_state_string(new_state, cur_state);
EC_DBG("Slave %i: %s -> %s.\n",
slave->ring_position, old_state, cur_state);
}
slave->current_state = new_state;
}
}
/*****************************************************************************/
/**
* Sets the online state of a slave.
*/
void ec_slave_set_online_state(ec_slave_t *slave, /**< EtherCAT slave */
ec_slave_online_state_t new_state /**< new online state */
)
{
if (new_state == EC_SLAVE_OFFLINE &&
slave->online_state == EC_SLAVE_ONLINE) {
if (slave->pdos_registered)
slave->master->pdo_slaves_offline++;
if (slave->master->debug_level)
EC_DBG("Slave %i: offline.\n", slave->ring_position);
}
else if (new_state == EC_SLAVE_ONLINE &&
slave->online_state == EC_SLAVE_OFFLINE) {
slave->error_flag = 0; // clear error flag
if (slave->pdos_registered)
slave->master->pdo_slaves_offline--;
if (slave->master->debug_level) {
char cur_state[EC_STATE_STRING_SIZE];
ec_state_string(slave->current_state, cur_state);
EC_DBG("Slave %i: online (%s).\n",
slave->ring_position, cur_state);
}
}
slave->online_state = new_state;
}
/*****************************************************************************/
/**
* Request a slave state and resets the error flag.
*/
void ec_slave_request_state(ec_slave_t *slave, /**< EtherCAT slave */
ec_slave_state_t state /**< new state */
)
{
slave->requested_state = state;
slave->error_flag = 0;
}
/*****************************************************************************/
/**
Fetches data from a STRING category.
\todo range checking
\return 0 in case of success, else < 0
*/
int ec_slave_fetch_sii_strings(
ec_slave_t *slave, /**< EtherCAT slave */
const uint8_t *data, /**< category data */
size_t data_size /**< number of bytes */
)
{
int i;
size_t size;
off_t offset;
slave->sii_string_count = data[0];
if (!slave->sii_string_count)
return 0;
if (!(slave->sii_strings =
kmalloc(sizeof(char *) * slave->sii_string_count,
GFP_KERNEL))) {
EC_ERR("Failed to allocate string array memory.\n");
goto out_zero;
}
offset = 1;
for (i = 0; i < slave->sii_string_count; i++) {
size = data[offset];
// allocate memory for string structure and data at a single blow
if (!(slave->sii_strings[i] =
kmalloc(sizeof(char) * size + 1, GFP_KERNEL))) {
EC_ERR("Failed to allocate string memory.\n");
goto out_free;
}
memcpy(slave->sii_strings[i], data + offset + 1, size);
slave->sii_strings[i][size] = 0x00; // append binary zero
offset += 1 + size;
}
return 0;
out_free:
for (i--; i >= 0; i--) kfree(slave->sii_strings[i]);
kfree(slave->sii_strings);
slave->sii_strings = NULL;
out_zero:
slave->sii_string_count = 0;
return -1;
}
/*****************************************************************************/
/**
Fetches data from a GENERAL category.
\return 0 in case of success, else < 0
*/
int ec_slave_fetch_sii_general(
ec_slave_t *slave, /**< EtherCAT slave */
const uint8_t *data, /**< category data */
size_t data_size /**< size in bytes */
)
{
unsigned int i;
if (data_size != 32) {
EC_ERR("Wrong size of general category (%u/32) in slave %u.\n",
data_size, slave->ring_position);
return -1;
}
slave->sii_group = ec_slave_sii_string(slave, data[0]);
slave->sii_image = ec_slave_sii_string(slave, data[1]);
slave->sii_order = ec_slave_sii_string(slave, data[2]);
slave->sii_name = ec_slave_sii_string(slave, data[3]);
for (i = 0; i < 4; i++)
slave->sii_physical_layer[i] =
(data[4] & (0x03 << (i * 2))) >> (i * 2);
slave->sii_current_on_ebus = EC_READ_S16(data + 0x0C);
return 0;
}
/*****************************************************************************/
/**
Fetches data from a SYNC MANAGER category.
\return 0 in case of success, else < 0
*/
int ec_slave_fetch_sii_syncs(
ec_slave_t *slave, /**< EtherCAT slave */
const uint8_t *data, /**< category data */
size_t data_size /**< number of bytes */
)
{
unsigned int i;
ec_sync_t *sync;
size_t memsize;
// one sync manager struct is 4 words long
if (data_size % 8) {
EC_ERR("Invalid SII sync manager size %u in slave %u.\n",
data_size, slave->ring_position);
return -1;
}
slave->sii_sync_count = data_size / 8;
memsize = sizeof(ec_sync_t) * slave->sii_sync_count;
if (!(slave->sii_syncs = kmalloc(memsize, GFP_KERNEL))) {
EC_ERR("Failed to allocate %u bytes for sync managers.\n",
memsize);
slave->sii_sync_count = 0;
return -1;
}
for (i = 0; i < slave->sii_sync_count; i++, data += 8) {
sync = &slave->sii_syncs[i];
ec_sync_init(sync, slave, i);
sync->physical_start_address = EC_READ_U16(data);
sync->length = EC_READ_U16(data + 2);
sync->control_register = EC_READ_U8 (data + 4);
sync->enable = EC_READ_U8 (data + 6);
}
return 0;
}
/*****************************************************************************/
/**
Fetches data from a [RT]XPDO category.
\return 0 in case of success, else < 0
*/
int ec_slave_fetch_sii_pdos(
ec_slave_t *slave, /**< EtherCAT slave */
const uint8_t *data, /**< category data */
size_t data_size, /**< number of bytes */
ec_pdo_type_t pdo_type /**< PDO type */
)
{
ec_pdo_t *pdo;
ec_pdo_entry_t *entry;
unsigned int entry_count, i;
while (data_size >= 8) {
if (!(pdo = kmalloc(sizeof(ec_pdo_t), GFP_KERNEL))) {
EC_ERR("Failed to allocate PDO memory.\n");
return -1;
}
ec_pdo_init(pdo);
pdo->type = pdo_type;
pdo->index = EC_READ_U16(data);
entry_count = EC_READ_U8(data + 2);
pdo->sync_index = EC_READ_U8(data + 3);
pdo->name = ec_slave_sii_string(slave, EC_READ_U8(data + 5));
list_add_tail(&pdo->list, &slave->sii_pdos);
data_size -= 8;
data += 8;
for (i = 0; i < entry_count; i++) {
if (!(entry = kmalloc(sizeof(ec_pdo_entry_t), GFP_KERNEL))) {
EC_ERR("Failed to allocate PDO entry memory.\n");
return -1;
}
entry->index = EC_READ_U16(data);
entry->subindex = EC_READ_U8(data + 2);
entry->name = ec_slave_sii_string(slave, EC_READ_U8(data + 3));
entry->bit_length = EC_READ_U8(data + 5);
list_add_tail(&entry->list, &pdo->entries);
data_size -= 8;
data += 8;
}
// if sync manager index is positive, the PDO is mapped by default
if (pdo->sync_index >= 0) {
ec_sync_t *sync;
ec_pdo_t *mapped_pdo;
if (pdo->sync_index >= slave->sii_sync_count) {
EC_ERR("Invalid SM index %i for PDO 0x%04X in slave %u.",
pdo->sync_index, pdo->index, slave->ring_position);
return -1;
}
sync = &slave->sii_syncs[pdo->sync_index];
if (!(mapped_pdo = kmalloc(sizeof(ec_pdo_t), GFP_KERNEL))) {
EC_ERR("Failed to allocate PDO memory.\n");
return -1;
}
if (ec_pdo_copy(mapped_pdo, pdo)) {
EC_ERR("Failed to copy PDO.\n");
kfree(mapped_pdo);
return -1;
}
list_add_tail(&mapped_pdo->list, &sync->pdos);
sync->mapping_source = EC_SYNC_MAPPING_SII;
}
}
return 0;
}
/*****************************************************************************/
/**
Searches the string list for an index and allocates a new string.
\return 0 in case of success, else < 0
\todo documentation
*/
char *ec_slave_sii_string(
ec_slave_t *slave, /**< EtherCAT slave */
unsigned int index /**< string index */
)
{
if (!index--)
return NULL;
if (index >= slave->sii_string_count) {
if (slave->master->debug_level)
EC_WARN("String %i not found in slave %i.\n",
index, slave->ring_position);
return NULL;
}
return slave->sii_strings[index];
}
/*****************************************************************************/
/**
* Prepares an FMMU configuration.
* Configuration data for the FMMU is saved in the slave structure and is
* written to the slave in ecrt_master_activate().
* The FMMU configuration is done in a way, that the complete data range
* of the corresponding sync manager is covered. Seperate FMMUs are configured
* for each domain.
* If the FMMU configuration is already prepared, the function returns with
* success.
* \return 0 in case of success, else < 0
*/
int ec_slave_prepare_fmmu(
ec_slave_t *slave, /**< EtherCAT slave */
const ec_domain_t *domain, /**< domain */
const ec_sync_t *sync /**< sync manager */
)
{
unsigned int i;
ec_fmmu_t *fmmu;
// FMMU configuration already prepared?
for (i = 0; i < slave->fmmu_count; i++) {
fmmu = &slave->fmmus[i];
if (fmmu->domain == domain && fmmu->sync == sync)
return 0;
}
// reserve new FMMU...
if (slave->fmmu_count >= slave->base_fmmu_count) {
EC_ERR("Slave %i FMMU limit reached!\n", slave->ring_position);
return -1;
}
fmmu = &slave->fmmus[slave->fmmu_count];
ec_fmmu_init(fmmu, slave, slave->fmmu_count++);
fmmu->domain = domain;
fmmu->sync = sync;
fmmu->logical_start_address = 0;
slave->pdos_registered = 1;
ec_slave_request_state(slave, EC_SLAVE_STATE_OP);
return 0;
}
/*****************************************************************************/
/**
Outputs all information about a certain slave.
*/
size_t ec_slave_info(const ec_slave_t *slave, /**< EtherCAT slave */
char *buffer /**< Output buffer */
)
{
off_t off = 0;
ec_sync_t *sync;
ec_pdo_t *pdo;
ec_pdo_entry_t *pdo_entry;
int first, i;
ec_sdo_data_t *sdodata;
char str[20];
off += sprintf(buffer + off, "\nName: ");
if (slave->sii_name)
off += sprintf(buffer + off, "%s", slave->sii_name);
off += sprintf(buffer + off, "\nVendor ID: 0x%08X\n",
slave->sii_vendor_id);
off += sprintf(buffer + off, "Product code: 0x%08X\n\n",
slave->sii_product_code);
off += sprintf(buffer + off, "State: ");
off += ec_state_string(slave->current_state, buffer + off);
off += sprintf(buffer + off, " (");
off += ec_state_string(slave->requested_state, buffer + off);
off += sprintf(buffer + off, ")\nFlags: %s, %s\n",
slave->online_state == EC_SLAVE_ONLINE ? "online" : "OFFLINE",
slave->error_flag ? "ERROR" : "ok");
off += sprintf(buffer + off, "Ring position: %i\n",
slave->ring_position);
off += sprintf(buffer + off, "Current consumption: %i mA\n\n",
slave->sii_current_on_ebus);
off += sprintf(buffer + off, "Data link status:\n");
for (i = 0; i < 4; i++) {
off += sprintf(buffer + off, " Port %i (", i);
switch (slave->sii_physical_layer[i]) {
case 0x00:
off += sprintf(buffer + off, "EBUS");
break;
case 0x01:
off += sprintf(buffer + off, "100BASE-TX");
break;
case 0x02:
off += sprintf(buffer + off, "100BASE-FX");
break;
default:
off += sprintf(buffer + off, "unknown (%i)",
slave->sii_physical_layer[i]);
}
off += sprintf(buffer + off, ") Link %s, Loop %s, %s\n",
slave->dl_link[i] ? "up" : "down",
slave->dl_loop[i] ? "closed" : "open",
slave->dl_signal[i] ? "Signal detected" : "No signal");
}
if (slave->sii_mailbox_protocols) {
off += sprintf(buffer + off, "\nMailboxes:\n");
off += sprintf(buffer + off, " RX mailbox: 0x%04X/%i,"
" TX mailbox: 0x%04X/%i\n",
slave->sii_rx_mailbox_offset,
slave->sii_rx_mailbox_size,
slave->sii_tx_mailbox_offset,
slave->sii_tx_mailbox_size);
off += sprintf(buffer + off, " Supported protocols: ");
first = 1;
if (slave->sii_mailbox_protocols & EC_MBOX_AOE) {
off += sprintf(buffer + off, "AoE");
first = 0;
}
if (slave->sii_mailbox_protocols & EC_MBOX_EOE) {
if (!first) off += sprintf(buffer + off, ", ");
off += sprintf(buffer + off, "EoE");
first = 0;
}
if (slave->sii_mailbox_protocols & EC_MBOX_COE) {
if (!first) off += sprintf(buffer + off, ", ");
off += sprintf(buffer + off, "CoE");
first = 0;
}
if (slave->sii_mailbox_protocols & EC_MBOX_FOE) {
if (!first) off += sprintf(buffer + off, ", ");
off += sprintf(buffer + off, "FoE");
first = 0;
}
if (slave->sii_mailbox_protocols & EC_MBOX_SOE) {
if (!first) off += sprintf(buffer + off, ", ");
off += sprintf(buffer + off, "SoE");
first = 0;
}
if (slave->sii_mailbox_protocols & EC_MBOX_VOE) {
if (!first) off += sprintf(buffer + off, ", ");
off += sprintf(buffer + off, "VoE");
}
off += sprintf(buffer + off, "\n");
}
if (slave->sii_alias || slave->sii_group
|| slave->sii_image || slave->sii_order)
off += sprintf(buffer + off, "\nSII data:\n");
if (slave->sii_alias)
off += sprintf(buffer + off, " Configured station alias:"
" 0x%04X (%i)\n", slave->sii_alias, slave->sii_alias);
if (slave->sii_group)
off += sprintf(buffer + off, " Group: %s\n", slave->sii_group);
if (slave->sii_image)
off += sprintf(buffer + off, " Image: %s\n", slave->sii_image);
if (slave->sii_order)
off += sprintf(buffer + off, " Order number: %s\n", slave->sii_order);
if (slave->sii_sync_count)
off += sprintf(buffer + off, "\nSync managers / PDO mapping:\n");
for (i = 0; i < slave->sii_sync_count; i++) {
sync = &slave->sii_syncs[i];
off += sprintf(buffer + off,
" SM%u: addr 0x%04X, size %i, control 0x%02X, %s\n",
sync->index, sync->physical_start_address,
ec_sync_size(sync), sync->control_register,
sync->enable ? "enable" : "disable");
if (list_empty(&sync->pdos)) {
off += sprintf(buffer + off, " No PDOs mapped.\n");
} else if (sync->mapping_source != EC_SYNC_MAPPING_NONE) {
off += sprintf(buffer + off, " PDO mapping information from %s.\n",
sync->mapping_source == EC_SYNC_MAPPING_SII ? "SII" : "CoE");
}
list_for_each_entry(pdo, &sync->pdos, list) {
off += sprintf(buffer + off, " %s 0x%04X \"%s\"\n",
pdo->type == EC_RX_PDO ? "RxPdo" : "TxPdo",
pdo->index, pdo->name ? pdo->name : "???");
list_for_each_entry(pdo_entry, &pdo->entries, list) {
off += sprintf(buffer + off,
" 0x%04X:%X \"%s\", %i bit\n",
pdo_entry->index, pdo_entry->subindex,
pdo_entry->name ? pdo_entry->name : "???",
pdo_entry->bit_length);
}
}
}
// type-cast to avoid warnings on some compilers
if (!list_empty((struct list_head *) &slave->sii_pdos))
off += sprintf(buffer + off, "\nAvailable PDOs from SII:\n");
list_for_each_entry(pdo, &slave->sii_pdos, list) {
off += sprintf(buffer + off, " %s 0x%04X \"%s\"",
pdo->type == EC_RX_PDO ? "RxPdo" : "TxPdo",
pdo->index, pdo->name ? pdo->name : "???");
if (pdo->sync_index >= 0)
off += sprintf(buffer + off, ", default mapping: SM%u.\n",
pdo->sync_index);
else
off += sprintf(buffer + off, ", no default mapping.\n");
list_for_each_entry(pdo_entry, &pdo->entries, list) {
off += sprintf(buffer + off, " 0x%04X:%X \"%s\", %i bit\n",
pdo_entry->index, pdo_entry->subindex,
pdo_entry->name ? pdo_entry->name : "???",
pdo_entry->bit_length);
}
}
// type-cast to avoid warnings on some compilers
if (!list_empty((struct list_head *) &slave->sdo_confs))
off += sprintf(buffer + off, "\nSDO configurations:\n");
list_for_each_entry(sdodata, &slave->sdo_confs, list) {
switch (sdodata->size) {
case 1: sprintf(str, "%i", EC_READ_U8(sdodata->data)); break;
case 2: sprintf(str, "%i", EC_READ_U16(sdodata->data)); break;
case 4: sprintf(str, "%i", EC_READ_U32(sdodata->data)); break;
default: sprintf(str, "(invalid size)"); break;
}
off += sprintf(buffer + off, " 0x%04X:%-3i -> %s\n",
sdodata->index, sdodata->subindex, str);
}
off += sprintf(buffer + off, "\n");
return off;
}
/*****************************************************************************/
/**
* Schedules an EEPROM write request.
* \return 0 case of success, otherwise error code.
*/
int ec_slave_schedule_eeprom_writing(
ec_eeprom_write_request_t *request /**< EEPROM write request */
)
{
ec_master_t *master = request->slave->master;
request->state = EC_REQUEST_QUEUED;
// schedule EEPROM write request.
down(&master->eeprom_sem);
list_add_tail(&request->list, &master->eeprom_requests);
up(&master->eeprom_sem);
// wait for processing through FSM
if (wait_event_interruptible(master->eeprom_queue,
request->state != EC_REQUEST_QUEUED)) {
// interrupted by signal
down(&master->eeprom_sem);
if (request->state == EC_REQUEST_QUEUED) {
list_del(&request->list);
up(&master->eeprom_sem);
return -EINTR;
}
// request already processing: interrupt not possible.
up(&master->eeprom_sem);
}
// wait until master FSM has finished processing
wait_event(master->eeprom_queue,
request->state != EC_REQUEST_IN_PROGRESS);
return request->state == EC_REQUEST_COMPLETE ? 0 : -EIO;
}
/*****************************************************************************/
/**
* Calculates the EEPROM checksum field.
*
* The checksum is generated with the polynom x^8+x^2+x+1 (0x07) and an
* initial value of 0xff (see IEC 61158-6-12 ch. 5.4).
*
* The below code was originally generated with PYCRC
* http://www.tty1.net/pycrc
*
* ./pycrc.py --width=8 --poly=0x07 --reflect-in=0 --xor-in=0xff
* --reflect-out=0 --xor-out=0 --generate c --algorithm=bit-by-bit
*
* \return CRC8
*/
uint8_t ec_slave_eeprom_crc(
const uint8_t *data, /**< pointer to data */
size_t length /**< number of bytes in \a data */
)
{
unsigned int i;
uint8_t bit, byte, crc = 0x48;
while (length--) {
byte = *data++;
for (i = 0; i < 8; i++) {
bit = crc & 0x80;
crc = (crc << 1) | ((byte >> (7 - i)) & 0x01);
if (bit) crc ^= 0x07;
}
}
for (i = 0; i < 8; i++) {
bit = crc & 0x80;
crc <<= 1;
if (bit) crc ^= 0x07;
}
return crc;
}
/*****************************************************************************/
/**
* Writes complete EEPROM contents to a slave.
* \return data size written in case of success, otherwise error code.
*/
ssize_t ec_slave_write_eeprom(ec_slave_t *slave, /**< EtherCAT slave */
const uint8_t *data, /**< new EEPROM data */
size_t size /**< size of data in bytes */
)
{
ec_eeprom_write_request_t request;
const uint16_t *cat_header;
uint16_t cat_type, cat_size;
int ret;
uint8_t crc;
if (slave->master->mode != EC_MASTER_MODE_IDLE) { // FIXME
EC_ERR("Writing EEPROMs only allowed in idle mode!\n");
return -EBUSY;
}
if (size % 2) {
EC_ERR("EEPROM data size is odd! Dropping.\n");
return -EINVAL;
}
// init EEPROM write request
INIT_LIST_HEAD(&request.list);
request.slave = slave;
request.data = data;
request.word_offset = 0;
request.word_size = size / 2;
if (request.word_size < 0x0041) {
EC_ERR("EEPROM data too short! Dropping.\n");
return -EINVAL;
}
// calculate checksum
crc = ec_slave_eeprom_crc(data, 14); // CRC over words 0 to 6
if (crc != data[14]) {
EC_WARN("EEPROM CRC incorrect. Must be 0x%02x.\n", crc);
}
cat_header = (const uint16_t *) request.data
+ EC_FIRST_EEPROM_CATEGORY_OFFSET;
cat_type = EC_READ_U16(cat_header);
while (cat_type != 0xFFFF) { // cycle through categories
if (cat_header + 1 >
(const uint16_t *) request.data + request.word_size) {
EC_ERR("EEPROM data corrupted! Dropping.\n");
return -EINVAL;
}
cat_size = EC_READ_U16(cat_header + 1);
if (cat_header + cat_size + 2 >
(const uint16_t *) request.data + request.word_size) {
EC_ERR("EEPROM data corrupted! Dropping.\n");
return -EINVAL;
}
cat_header += cat_size + 2;
cat_type = EC_READ_U16(cat_header);
}
// EEPROM data ok. schedule writing.
if ((ret = ec_slave_schedule_eeprom_writing(&request)))
return ret; // error code
return size; // success
}
/*****************************************************************************/
/**
* Writes the Secondary slave address (alias) to the slave's EEPROM.
* \return data size written in case of success, otherwise error code.
*/
ssize_t ec_slave_write_alias(ec_slave_t *slave, /**< EtherCAT slave */
const uint8_t *data, /**< alias string */
size_t size /**< size of data in bytes */
)
{
ec_eeprom_write_request_t request;
char *remainder;
uint16_t alias;
int ret;
uint8_t eeprom_data[16], crc;
if (slave->master->mode != EC_MASTER_MODE_IDLE) { // FIXME
EC_ERR("Writing to EEPROM is only allowed in idle mode!\n");
return -EBUSY;
}
alias = simple_strtoul(data, &remainder, 0);
if (remainder == (char *) data || (*remainder && *remainder != '\n')) {
EC_ERR("Invalid alias value! Dropping.\n");
return -EINVAL;
}
if (!slave->eeprom_data || slave->eeprom_size < 16) {
EC_ERR("Failed to read EEPROM contents from slave %u.\n",
slave->ring_position);
return -EINVAL;
}
// copy first 7 words of recent EEPROM contents
memcpy(eeprom_data, slave->eeprom_data, 14);
// write new alias address in word 4
EC_WRITE_U16(eeprom_data + 8, alias);
// calculate new checksum over words 0 to 6
crc = ec_slave_eeprom_crc(eeprom_data, 14);
EC_WRITE_U16(eeprom_data + 14, crc);
// init EEPROM write request
INIT_LIST_HEAD(&request.list);
request.slave = slave;
request.data = eeprom_data;
request.word_offset = 0x0000;
request.word_size = 8;
if ((ret = ec_slave_schedule_eeprom_writing(&request)))
return ret; // error code
slave->sii_alias = alias; // FIXME: do this in state machine
return size; // success
}
/*****************************************************************************/
/**
Formats attribute data for SysFS read access.
\return number of bytes to read
*/
ssize_t ec_show_slave_attribute(struct kobject *kobj, /**< slave's kobject */
struct attribute *attr, /**< attribute */
char *buffer /**< memory to store data */
)
{
ec_slave_t *slave = container_of(kobj, ec_slave_t, kobj);
if (attr == &attr_info) {
return ec_slave_info(slave, buffer);
}
else if (attr == &attr_state) {
switch (slave->current_state) {
case EC_SLAVE_STATE_INIT:
return sprintf(buffer, "INIT\n");
case EC_SLAVE_STATE_PREOP:
return sprintf(buffer, "PREOP\n");
case EC_SLAVE_STATE_SAVEOP:
return sprintf(buffer, "SAVEOP\n");
case EC_SLAVE_STATE_OP:
return sprintf(buffer, "OP\n");
default:
return sprintf(buffer, "UNKNOWN\n");
}
}
else if (attr == &attr_eeprom) {
if (slave->eeprom_data) {
if (slave->eeprom_size > PAGE_SIZE) {
EC_ERR("EEPROM contents of slave %i exceed 1 page (%i/%i).\n",
slave->ring_position, slave->eeprom_size,
(int) PAGE_SIZE);
}
else {
memcpy(buffer, slave->eeprom_data, slave->eeprom_size);
return slave->eeprom_size;
}
}
}
else if (attr == &attr_alias) {
return sprintf(buffer, "%u\n", slave->sii_alias);
}
return 0;
}
/*****************************************************************************/
/**
Formats attribute data for SysFS write access.
\return number of bytes processed, or negative error code
*/
ssize_t ec_store_slave_attribute(struct kobject *kobj, /**< slave's kobject */
struct attribute *attr, /**< attribute */
const char *buffer, /**< memory with data */
size_t size /**< size of data to store */
)
{
ec_slave_t *slave = container_of(kobj, ec_slave_t, kobj);
if (attr == &attr_state) {
char state[EC_STATE_STRING_SIZE];
if (!strcmp(buffer, "INIT\n"))
ec_slave_request_state(slave, EC_SLAVE_STATE_INIT);
else if (!strcmp(buffer, "PREOP\n"))
ec_slave_request_state(slave, EC_SLAVE_STATE_PREOP);
else if (!strcmp(buffer, "SAVEOP\n"))
ec_slave_request_state(slave, EC_SLAVE_STATE_SAVEOP);
else if (!strcmp(buffer, "OP\n"))
ec_slave_request_state(slave, EC_SLAVE_STATE_OP);
else {
EC_ERR("Invalid slave state \"%s\"!\n", buffer);
return -EINVAL;
}
ec_state_string(slave->requested_state, state);
EC_INFO("Accepted new state %s for slave %i.\n",
state, slave->ring_position);
return size;
}
else if (attr == &attr_eeprom) {
return ec_slave_write_eeprom(slave, buffer, size);
}
else if (attr == &attr_alias) {
return ec_slave_write_alias(slave, buffer, size);
}
return -EIO;
}
/*****************************************************************************/
/**
* Get the sync manager for either Rx- or Tx-PDOs.
* \return pointer to sync manager, or NULL.
*/
ec_sync_t *ec_slave_get_pdo_sync(
ec_slave_t *slave, /**< EtherCAT slave */
ec_direction_t dir /**< input or output */
)
{
unsigned int sync_index;
if (dir != EC_DIR_INPUT && dir != EC_DIR_OUTPUT) {
EC_ERR("Invalid direction!\n");
return NULL;
}
sync_index = (unsigned int) dir;
if (slave->sii_mailbox_protocols) sync_index += 2;
if (sync_index >= slave->sii_sync_count)
return NULL;
return &slave->sii_syncs[sync_index];
}
/*****************************************************************************/
/**
\return 0 in case of success, else < 0
*/
int ec_slave_conf_sdo(ec_slave_t *slave, /**< EtherCAT slave */
uint16_t sdo_index, /**< SDO index */
uint8_t sdo_subindex, /**< SDO subindex */
const uint8_t *data, /**< SDO data */
size_t size /**< SDO size in bytes */
)
{
ec_sdo_data_t *sdodata;
if (!(slave->sii_mailbox_protocols & EC_MBOX_COE)) {
EC_ERR("Slave %i does not support CoE!\n", slave->ring_position);
return -1;
}
if (!(sdodata = (ec_sdo_data_t *)
kmalloc(sizeof(ec_sdo_data_t), GFP_KERNEL))) {
EC_ERR("Failed to allocate memory for SDO configuration object!\n");
return -1;
}
if (!(sdodata->data = (uint8_t *) kmalloc(size, GFP_KERNEL))) {
EC_ERR("Failed to allocate memory for SDO configuration data!\n");
kfree(sdodata);
return -1;
}
sdodata->index = sdo_index;
sdodata->subindex = sdo_subindex;
memcpy(sdodata->data, data, size);
sdodata->size = size;
list_add_tail(&sdodata->list, &slave->sdo_confs);
return 0;
}
/*****************************************************************************/
/**
\return 0 in case of success, else < 0
*/
int ec_slave_validate(const ec_slave_t *slave, /**< EtherCAT slave */
uint32_t vendor_id, /**< vendor ID */
uint32_t product_code /**< product code */
)
{
if (vendor_id != slave->sii_vendor_id ||
product_code != slave->sii_product_code) {
EC_ERR("Invalid slave type at position %i:\n", slave->ring_position);
EC_ERR(" Requested: 0x%08X 0x%08X\n", vendor_id, product_code);
EC_ERR(" Found: 0x%08X 0x%08X\n",
slave->sii_vendor_id, slave->sii_product_code);
return -1;
}
return 0;
}
/*****************************************************************************/
/**
Counts the total number of SDOs and entries in the dictionary.
*/
void ec_slave_sdo_dict_info(const ec_slave_t *slave, /**< EtherCAT slave */
unsigned int *sdo_count, /**< number of SDOs */
unsigned int *entry_count /**< total number of
entries */
)
{
unsigned int sdos = 0, entries = 0;
ec_sdo_t *sdo;
ec_sdo_entry_t *entry;
list_for_each_entry(sdo, &slave->sdo_dictionary, list) {
sdos++;
list_for_each_entry(entry, &sdo->entries, list) {
entries++;
}
}
*sdo_count = sdos;
*entry_count = entries;
}
/*****************************************************************************/
/**
* Get an SDO from the dictionary.
* \returns The desired SDO, of NULL.
*/
ec_sdo_t *ec_slave_get_sdo(
ec_slave_t *slave /**< EtherCAT slave */,
uint16_t index /**< SDO index */
)
{
ec_sdo_t *sdo;
list_for_each_entry(sdo, &slave->sdo_dictionary, list) {
if (sdo->index != index) continue;
return sdo;
}
return NULL;
}
/******************************************************************************
* Realtime interface
*****************************************************************************/
/**
\return 0 in case of success, else < 0
\ingroup RealtimeInterface
*/
int ecrt_slave_conf_sdo8(ec_slave_t *slave, /**< EtherCAT slave */
uint16_t sdo_index, /**< SDO index */
uint8_t sdo_subindex, /**< SDO subindex */
uint8_t value /**< new SDO value */
)
{
uint8_t data[1];
EC_WRITE_U8(data, value);
return ec_slave_conf_sdo(slave, sdo_index, sdo_subindex, data, 1);
}
/*****************************************************************************/
/**
\return 0 in case of success, else < 0
\ingroup RealtimeInterface
*/
int ecrt_slave_conf_sdo16(ec_slave_t *slave, /**< EtherCAT slave */
uint16_t sdo_index, /**< SDO index */
uint8_t sdo_subindex, /**< SDO subindex */
uint16_t value /**< new SDO value */
)
{
uint8_t data[2];
EC_WRITE_U16(data, value);
return ec_slave_conf_sdo(slave, sdo_index, sdo_subindex, data, 2);
}
/*****************************************************************************/
/**
\return 0 in case of success, else < 0
\ingroup RealtimeInterface
*/
int ecrt_slave_conf_sdo32(ec_slave_t *slave, /**< EtherCAT slave */
uint16_t sdo_index, /**< SDO index */
uint8_t sdo_subindex, /**< SDO subindex */
uint32_t value /**< new SDO value */
)
{
uint8_t data[4];
EC_WRITE_U32(data, value);
return ec_slave_conf_sdo(slave, sdo_index, sdo_subindex, data, 4);
}
/*****************************************************************************/
/**
* Clear slave's PDO mapping.
*/
void ecrt_slave_pdo_mapping_clear(
ec_slave_t *slave, /**< EtherCAT slave */
ec_direction_t dir /**< output/input */
)
{
ec_sync_t *sync;
if (!(slave->sii_mailbox_protocols & EC_MBOX_COE)) {
EC_ERR("Slave %i does not support CoE!\n", slave->ring_position);
return;
}
if (!(sync = ec_slave_get_pdo_sync(slave, dir)))
return;
ec_sync_clear_pdos(sync);
sync->alt_mapping = 1;
}
/*****************************************************************************/
/**
* Add a PDO to the list of known mapped PDOs.
*/
int ecrt_slave_pdo_mapping_add(
ec_slave_t *slave, /**< EtherCAT slave */
ec_direction_t dir, /**< input/output */
uint16_t pdo_index /**< Index of mapped PDO */)
{
ec_pdo_t *pdo;
ec_sync_t *sync;
unsigned int not_found = 1;
if (!(slave->sii_mailbox_protocols & EC_MBOX_COE)) {
EC_ERR("Slave %u does not support CoE!\n", slave->ring_position);
return -1;
}
// does the slave provide the PDO?
list_for_each_entry(pdo, &slave->sii_pdos, list) {
if (pdo->index == pdo_index) {
not_found = 0;
break;
}
}
if (not_found) {
EC_ERR("Slave %u does not provide PDO 0x%04X!\n",
slave->ring_position, pdo_index);
return -1;
}
// check direction
if ((pdo->type == EC_TX_PDO && dir == EC_DIR_OUTPUT) ||
(pdo->type == EC_RX_PDO && dir == EC_DIR_INPUT)) {
EC_ERR("Invalid direction for PDO 0x%04X.\n", pdo_index);
return -1;
}
if (!(sync = ec_slave_get_pdo_sync(slave, dir))) {
EC_ERR("Failed to obtain sync manager for PDO mapping of slave %u!\n",
slave->ring_position);
return -1;
}
if (ec_sync_add_pdo(sync, pdo))
return -1;
sync->alt_mapping = 1;
return 0;
}
/*****************************************************************************/
/**
* Convenience function for ecrt_slave_pdo_mapping_clear() and
* ecrt_slave_pdo_mapping_add().
*/
int ecrt_slave_pdo_mapping(ec_slave_t *slave, /**< EtherCAT slave */
ec_direction_t dir, /**< input/output */
unsigned int num_args, /**< Number of following arguments */
... /**< PDO indices to map */
)
{
va_list ap;
ecrt_slave_pdo_mapping_clear(slave, dir);
va_start(ap, num_args);
for (; num_args; num_args--) {
if (ecrt_slave_pdo_mapping_add(
slave, dir, (uint16_t) va_arg(ap, int))) {
return -1;
}
}
va_end(ap);
return 0;
}
/*****************************************************************************/
/** \cond */
EXPORT_SYMBOL(ecrt_slave_conf_sdo8);
EXPORT_SYMBOL(ecrt_slave_conf_sdo16);
EXPORT_SYMBOL(ecrt_slave_conf_sdo32);
EXPORT_SYMBOL(ecrt_slave_pdo_mapping_clear);
EXPORT_SYMBOL(ecrt_slave_pdo_mapping_add);
EXPORT_SYMBOL(ecrt_slave_pdo_mapping);
/** \endcond */
/*****************************************************************************/