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2c3a92ff234ecb74319336a3553b23078439c10d
ethercat/master/slave_config.c
Florian Pose b182bef611 AL state timeout lookup logic.
2024-05-22 11:54:36 +02:00

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/*****************************************************************************
*
* Copyright (C) 2006-2024 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 version 2, as
* published by the Free Software Foundation.
*
* 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
*
* vim: expandtab
*
****************************************************************************/
/**
\file
EtherCAT slave configuration methods.
*/
/****************************************************************************/
#include "slave_config.h"
#include "globals.h"
#include "master.h"
#include "voe_handler.h"
#include "flag.h"
#include "ioctl.h"
#ifdef EC_EOE
#include "eoe_request.h"
#endif
#include <linux/module.h>
#include <linux/slab.h>
/****************************************************************************/
// prototypes for private methods
int ec_slave_config_prepare_fmmu(ec_slave_config_t *, ec_domain_t *, uint8_t,
ec_direction_t);
void ec_slave_config_load_default_mapping(const ec_slave_config_t *,
ec_pdo_t *);
/****************************************************************************/
/** EtherCAT application-layer transition timeout.
*/
typedef struct {
struct list_head list;
ec_slave_state_t from;
ec_slave_state_t to;
unsigned int timeout_ms;
} ec_al_timeout_t;
/****************************************************************************/
/** Slave configuration constructor.
*
* See ecrt_master_slave_config() for the usage of the \a alias and \a
* position parameters.
*/
void ec_slave_config_init(
ec_slave_config_t *sc, /**< Slave configuration. */
ec_master_t *master, /**< EtherCAT master. */
uint16_t alias, /**< Slave alias. */
uint16_t position, /**< Slave position. */
uint32_t vendor_id, /**< Expected vendor ID. */
uint32_t product_code /**< Expected product code. */
)
{
unsigned int i;
sc->master = master;
sc->alias = alias;
sc->position = position;
sc->vendor_id = vendor_id;
sc->product_code = product_code;
sc->watchdog_divider = 0; // use default
sc->watchdog_intervals = 0; // use default
sc->slave = NULL;
for (i = 0; i < EC_MAX_SYNC_MANAGERS; i++)
ec_sync_config_init(&sc->sync_configs[i]);
sc->used_fmmus = 0;
sc->dc_assign_activate = 0x0000;
sc->dc_sync[0].cycle_time = 0U;
sc->dc_sync[1].cycle_time = 0;
sc->dc_sync[0].shift_time = 0U;
sc->dc_sync[1].shift_time = 0;
INIT_LIST_HEAD(&sc->sdo_configs);
INIT_LIST_HEAD(&sc->sdo_requests);
INIT_LIST_HEAD(&sc->soe_requests);
INIT_LIST_HEAD(&sc->reg_requests);
INIT_LIST_HEAD(&sc->voe_handlers);
INIT_LIST_HEAD(&sc->soe_configs);
INIT_LIST_HEAD(&sc->flags);
INIT_LIST_HEAD(&sc->al_timeouts);
#ifdef EC_EOE
ec_eoe_request_init(&sc->eoe_ip_param_request);
#endif
ec_coe_emerg_ring_init(&sc->emerg_ring, sc);
}
/****************************************************************************/
/** Slave configuration destructor.
*
* Clears and frees a slave configuration object.
*/
void ec_slave_config_clear(
ec_slave_config_t *sc /**< Slave configuration. */
)
{
unsigned int i;
ec_sdo_request_t *req, *next_req;
ec_voe_handler_t *voe, *next_voe;
ec_reg_request_t *reg, *next_reg;
ec_soe_request_t *soe, *next_soe;
ec_flag_t *flag, *next_flag;
ec_al_timeout_t *timeout, *next_timeout;
ec_slave_config_detach(sc);
// Free sync managers
for (i = 0; i < EC_MAX_SYNC_MANAGERS; i++)
ec_sync_config_clear(&sc->sync_configs[i]);
// free all SDO configurations
list_for_each_entry_safe(req, next_req, &sc->sdo_configs, list) {
list_del(&req->list);
ec_sdo_request_clear(req);
kfree(req);
}
// free all SDO requests
list_for_each_entry_safe(req, next_req, &sc->sdo_requests, list) {
list_del(&req->list);
ec_sdo_request_clear(req);
kfree(req);
}
// free all SoE requests
list_for_each_entry_safe(soe, next_soe, &sc->soe_requests, list) {
list_del(&soe->list);
ec_soe_request_clear(soe);
kfree(soe);
}
// free all register requests
list_for_each_entry_safe(reg, next_reg, &sc->reg_requests, list) {
list_del(&reg->list);
ec_reg_request_clear(reg);
kfree(reg);
}
// free all VoE handlers
list_for_each_entry_safe(voe, next_voe, &sc->voe_handlers, list) {
list_del(&voe->list);
ec_voe_handler_clear(voe);
kfree(voe);
}
// free all SoE configurations
list_for_each_entry_safe(soe, next_soe, &sc->soe_configs, list) {
list_del(&soe->list);
ec_soe_request_clear(soe);
kfree(soe);
}
// free all flags
list_for_each_entry_safe(flag, next_flag, &sc->flags, list) {
list_del(&flag->list);
ec_flag_clear(flag);
kfree(flag);
}
// free all AL timeouts
list_for_each_entry_safe(timeout, next_timeout, &sc->al_timeouts, list) {
list_del(&timeout->list);
kfree(timeout);
}
ec_coe_emerg_ring_clear(&sc->emerg_ring);
}
/****************************************************************************/
/** Prepares an FMMU configuration.
*
* Configuration data for the FMMU is saved in the slave config structure and
* is written to the slave during the configuration. 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 does nothing and
* returns with success.
*
* \retval >=0 Success, logical offset byte address.
* \retval <0 Error code.
*/
int ec_slave_config_prepare_fmmu(
ec_slave_config_t *sc, /**< Slave configuration. */
ec_domain_t *domain, /**< Domain. */
uint8_t sync_index, /**< Sync manager index. */
ec_direction_t dir /**< PDO direction. */
)
{
unsigned int i;
ec_fmmu_config_t *fmmu;
// FMMU configuration already prepared?
for (i = 0; i < sc->used_fmmus; i++) {
fmmu = &sc->fmmu_configs[i];
if (fmmu->domain == domain && fmmu->sync_index == sync_index)
return fmmu->logical_start_address;
}
if (sc->used_fmmus == EC_MAX_FMMUS) {
EC_CONFIG_ERR(sc, "FMMU limit reached!\n");
return -EOVERFLOW;
}
fmmu = &sc->fmmu_configs[sc->used_fmmus++];
down(&sc->master->master_sem);
ec_fmmu_config_init(fmmu, sc, domain, sync_index, dir);
up(&sc->master->master_sem);
return fmmu->logical_start_address;
}
/****************************************************************************/
/** Attaches the configuration to the addressed slave object.
*
* \retval 0 Success.
* \retval <0 Error code.
*/
int ec_slave_config_attach(
ec_slave_config_t *sc /**< Slave configuration. */
)
{
ec_slave_t *slave;
if (sc->slave)
return 0; // already attached
if (!(slave = ec_master_find_slave(
sc->master, sc->alias, sc->position))) {
EC_CONFIG_DBG(sc, 1, "Failed to find slave for configuration.\n");
return -ENOENT;
}
if (slave->config) {
EC_CONFIG_DBG(sc, 1, "Failed to attach configuration. Slave %u"
" already has a configuration!\n", slave->ring_position);
return -EEXIST;
}
if (
#ifdef EC_IDENT_WILDCARDS
sc->vendor_id != 0xffffffff &&
#endif
slave->sii.vendor_id != sc->vendor_id
) {
EC_CONFIG_DBG(sc, 1, "Slave %u has no matching vendor ID (0x%08X)"
" for configuration (0x%08X).\n",
slave->ring_position, slave->sii.vendor_id, sc->vendor_id);
return -EINVAL;
}
if (
#ifdef EC_IDENT_WILDCARDS
sc->product_code != 0xffffffff &&
#endif
slave->sii.product_code != sc->product_code
) {
EC_CONFIG_DBG(sc, 1, "Slave %u has no matching product code (0x%08X)"
" for configuration (0x%08X).\n",
slave->ring_position, slave->sii.product_code,
sc->product_code);
return -EINVAL;
}
// attach slave
slave->config = sc;
sc->slave = slave;
EC_CONFIG_DBG(sc, 1, "Attached slave %u.\n", slave->ring_position);
return 0;
}
/****************************************************************************/
/** Detaches the configuration from a slave object.
*/
void ec_slave_config_detach(
ec_slave_config_t *sc /**< Slave configuration. */
)
{
if (sc->slave) {
ec_reg_request_t *reg;
sc->slave->config = NULL;
// invalidate processing register request
list_for_each_entry(reg, &sc->reg_requests, list) {
if (sc->slave->fsm.reg_request == reg) {
sc->slave->fsm.reg_request = NULL;
break;
}
}
sc->slave = NULL;
}
}
/****************************************************************************/
/** Loads the default PDO assignment from the slave object.
*/
void ec_slave_config_load_default_sync_config(ec_slave_config_t *sc)
{
uint8_t sync_index;
ec_sync_config_t *sync_config;
const ec_sync_t *sync;
if (!sc->slave)
return;
for (sync_index = 0; sync_index < EC_MAX_SYNC_MANAGERS; sync_index++) {
sync_config = &sc->sync_configs[sync_index];
if ((sync = ec_slave_get_sync(sc->slave, sync_index))) {
sync_config->dir = ec_sync_default_direction(sync);
if (sync_config->dir == EC_DIR_INVALID)
EC_SLAVE_WARN(sc->slave,
"SM%u has an invalid direction field!\n", sync_index);
ec_pdo_list_copy(&sync_config->pdos, &sync->pdos);
}
}
}
/****************************************************************************/
/** Loads the default mapping for a PDO from the slave object.
*/
void ec_slave_config_load_default_mapping(
const ec_slave_config_t *sc,
ec_pdo_t *pdo
)
{
unsigned int i;
const ec_sync_t *sync;
const ec_pdo_t *default_pdo;
if (!sc->slave)
return;
EC_CONFIG_DBG(sc, 1, "Loading default mapping for PDO 0x%04X.\n",
pdo->index);
// find PDO in any sync manager (it could be reassigned later)
for (i = 0; i < sc->slave->sii.sync_count; i++) {
sync = &sc->slave->sii.syncs[i];
list_for_each_entry(default_pdo, &sync->pdos.list, list) {
if (default_pdo->index != pdo->index)
continue;
if (default_pdo->name) {
EC_CONFIG_DBG(sc, 1, "Found PDO name \"%s\".\n",
default_pdo->name);
// take PDO name from assigned one
ec_pdo_set_name(pdo, default_pdo->name);
}
// copy entries (= default PDO mapping)
if (ec_pdo_copy_entries(pdo, default_pdo))
return;
if (sc->master->debug_level) {
const ec_pdo_entry_t *entry;
list_for_each_entry(entry, &pdo->entries, list) {
EC_CONFIG_DBG(sc, 1, "Entry 0x%04X:%02X.\n",
entry->index, entry->subindex);
}
}
return;
}
}
EC_CONFIG_DBG(sc, 1, "No default mapping found.\n");
}
/****************************************************************************/
/** Get the number of SDO configurations.
*
* \return Number of SDO configurations.
*/
unsigned int ec_slave_config_sdo_count(
const ec_slave_config_t *sc /**< Slave configuration. */
)
{
const ec_sdo_request_t *req;
unsigned int count = 0;
list_for_each_entry(req, &sc->sdo_configs, list) {
count++;
}
return count;
}
/****************************************************************************/
/** Finds an SDO configuration via its position in the list.
*
* Const version.
*
* \return Search result, or NULL.
*/
const ec_sdo_request_t *ec_slave_config_get_sdo_by_pos_const(
const ec_slave_config_t *sc, /**< Slave configuration. */
unsigned int pos /**< Position in the list. */
)
{
const ec_sdo_request_t *req;
list_for_each_entry(req, &sc->sdo_configs, list) {
if (pos--)
continue;
return req;
}
return NULL;
}
/****************************************************************************/
/** Get the number of IDN configurations.
*
* \return Number of SDO configurations.
*/
unsigned int ec_slave_config_idn_count(
const ec_slave_config_t *sc /**< Slave configuration. */
)
{
const ec_soe_request_t *req;
unsigned int count = 0;
list_for_each_entry(req, &sc->soe_configs, list) {
count++;
}
return count;
}
/****************************************************************************/
/** Finds an IDN configuration via its position in the list.
*
* Const version.
*
* \return Search result, or NULL.
*/
const ec_soe_request_t *ec_slave_config_get_idn_by_pos_const(
const ec_slave_config_t *sc, /**< Slave configuration. */
unsigned int pos /**< Position in the list. */
)
{
const ec_soe_request_t *req;
list_for_each_entry(req, &sc->soe_configs, list) {
if (pos--)
continue;
return req;
}
return NULL;
}
/****************************************************************************/
/** Get the number of feature flags.
*
* \return Number of feature flags.
*/
unsigned int ec_slave_config_flag_count(
const ec_slave_config_t *sc /**< Slave configuration. */
)
{
const ec_flag_t *flag;
unsigned int count = 0;
list_for_each_entry(flag, &sc->flags, list) {
count++;
}
return count;
}
/****************************************************************************/
/** Finds a flag via its position in the list.
*
* Const version.
*
* \return Search result, or NULL.
*/
const ec_flag_t *ec_slave_config_get_flag_by_pos_const(
const ec_slave_config_t *sc, /**< Slave configuration. */
unsigned int pos /**< Position in the list. */
)
{
const ec_flag_t *flag;
list_for_each_entry(flag, &sc->flags, list) {
if (pos--)
continue;
return flag;
}
return NULL;
}
/****************************************************************************/
/** Finds a CoE SDO request via its position in the list.
*
* \return Search result, or NULL.
*/
ec_sdo_request_t *ec_slave_config_find_sdo_request(
ec_slave_config_t *sc, /**< Slave configuration. */
unsigned int pos /**< Position in the list. */
)
{
ec_sdo_request_t *req;
list_for_each_entry(req, &sc->sdo_requests, list) {
if (pos--)
continue;
return req;
}
return NULL;
}
/****************************************************************************/
/** Finds a SoE request via its position in the list.
*
* \return Search result, or NULL.
*/
ec_soe_request_t *ec_slave_config_find_soe_request(
ec_slave_config_t *sc, /**< Slave configuration. */
unsigned int pos /**< Position in the list. */
)
{
ec_soe_request_t *req;
list_for_each_entry(req, &sc->soe_requests, list) {
if (pos--)
continue;
return req;
}
return NULL;
}
/****************************************************************************/
/** Finds a register handler via its position in the list.
*
* \return Search result, or NULL.
*/
ec_reg_request_t *ec_slave_config_find_reg_request(
ec_slave_config_t *sc, /**< Slave configuration. */
unsigned int pos /**< Position in the list. */
)
{
ec_reg_request_t *reg;
list_for_each_entry(reg, &sc->reg_requests, list) {
if (pos--)
continue;
return reg;
}
return NULL;
}
/****************************************************************************/
/** Finds a VoE handler via its position in the list.
*
* \return Search result, or NULL.
*/
ec_voe_handler_t *ec_slave_config_find_voe_handler(
ec_slave_config_t *sc, /**< Slave configuration. */
unsigned int pos /**< Position in the list. */
)
{
ec_voe_handler_t *voe;
list_for_each_entry(voe, &sc->voe_handlers, list) {
if (pos--)
continue;
return voe;
}
return NULL;
}
/****************************************************************************/
/** Finds a flag.
*
* \return Search result, or NULL.
*/
ec_flag_t *ec_slave_config_find_flag(
ec_slave_config_t *sc, /**< Slave configuration. */
const char *key /**< Flag key. */
)
{
if (sc) {
ec_flag_t *flag;
list_for_each_entry(flag, &sc->flags, list) {
if (!strcmp(flag->key, key)) {
return flag;
}
}
}
return NULL;
}
/****************************************************************************/
/** Return an AL state timeout.
*
* \return Search result, or 0.
*/
unsigned int ec_slave_config_al_timeout(const ec_slave_config_t *sc,
ec_slave_state_t from, ec_slave_state_t to)
{
ec_al_timeout_t *timeout;
list_for_each_entry(timeout, &sc->al_timeouts, list) {
if (timeout->from == from && timeout->to == to) {
return timeout->timeout_ms;
}
}
return 0;
}
/*****************************************************************************
* Application interface
****************************************************************************/
int ecrt_slave_config_sync_manager(ec_slave_config_t *sc, uint8_t sync_index,
ec_direction_t dir, ec_watchdog_mode_t watchdog_mode)
{
ec_sync_config_t *sync_config;
EC_CONFIG_DBG(sc, 1, "ecrt_slave_config_sync_manager(sc = 0x%p,"
" sync_index = %u, dir = %i, watchdog_mode = %i)\n",
sc, sync_index, dir, watchdog_mode);
if (sync_index >= EC_MAX_SYNC_MANAGERS) {
EC_CONFIG_ERR(sc, "Invalid sync manager index %u!\n", sync_index);
return -ENOENT;
}
if (dir != EC_DIR_OUTPUT && dir != EC_DIR_INPUT) {
EC_CONFIG_ERR(sc, "Invalid direction %u!\n", (unsigned int) dir);
return -EINVAL;
}
sync_config = &sc->sync_configs[sync_index];
sync_config->dir = dir;
sync_config->watchdog_mode = watchdog_mode;
return 0;
}
/****************************************************************************/
int ecrt_slave_config_watchdog(ec_slave_config_t *sc,
uint16_t divider, uint16_t intervals)
{
EC_CONFIG_DBG(sc, 1, "%s(sc = 0x%p, divider = %u, intervals = %u)\n",
__func__, sc, divider, intervals);
sc->watchdog_divider = divider;
sc->watchdog_intervals = intervals;
return 0;
}
/****************************************************************************/
int ecrt_slave_config_pdo_assign_add(ec_slave_config_t *sc,
uint8_t sync_index, uint16_t pdo_index)
{
ec_pdo_t *pdo;
EC_CONFIG_DBG(sc, 1, "%s(sc = 0x%p, sync_index = %u, "
"pdo_index = 0x%04X)\n", __func__, sc, sync_index, pdo_index);
if (sync_index >= EC_MAX_SYNC_MANAGERS) {
EC_CONFIG_ERR(sc, "Invalid sync manager index %u!\n", sync_index);
return -EINVAL;
}
down(&sc->master->master_sem);
pdo = ec_pdo_list_add_pdo(&sc->sync_configs[sync_index].pdos, pdo_index);
if (IS_ERR(pdo)) {
up(&sc->master->master_sem);
return PTR_ERR(pdo);
}
pdo->sync_index = sync_index;
ec_slave_config_load_default_mapping(sc, pdo);
up(&sc->master->master_sem);
return 0;
}
/****************************************************************************/
int ecrt_slave_config_pdo_assign_clear(ec_slave_config_t *sc,
uint8_t sync_index)
{
EC_CONFIG_DBG(sc, 1, "%s(sc = 0x%p, sync_index = %u)\n",
__func__, sc, sync_index);
if (sync_index >= EC_MAX_SYNC_MANAGERS) {
EC_CONFIG_ERR(sc, "Invalid sync manager index %u!\n", sync_index);
return -EINVAL;
}
down(&sc->master->master_sem);
ec_pdo_list_clear_pdos(&sc->sync_configs[sync_index].pdos);
up(&sc->master->master_sem);
return 0;
}
/****************************************************************************/
int ecrt_slave_config_pdo_mapping_add(ec_slave_config_t *sc,
uint16_t pdo_index, uint16_t entry_index, uint8_t entry_subindex,
uint8_t entry_bit_length)
{
uint8_t sync_index;
ec_pdo_t *pdo = NULL;
ec_pdo_entry_t *entry;
int retval = 0;
EC_CONFIG_DBG(sc, 1, "%s(sc = 0x%p, "
"pdo_index = 0x%04X, entry_index = 0x%04X, "
"entry_subindex = 0x%02X, entry_bit_length = %u)\n",
__func__, sc, pdo_index, entry_index, entry_subindex,
entry_bit_length);
for (sync_index = 0; sync_index < EC_MAX_SYNC_MANAGERS; sync_index++)
if ((pdo = ec_pdo_list_find_pdo(
&sc->sync_configs[sync_index].pdos, pdo_index)))
break;
if (pdo) {
down(&sc->master->master_sem);
entry = ec_pdo_add_entry(pdo, entry_index, entry_subindex,
entry_bit_length);
up(&sc->master->master_sem);
if (IS_ERR(entry))
retval = PTR_ERR(entry);
} else {
EC_CONFIG_ERR(sc, "PDO 0x%04X is not assigned.\n", pdo_index);
retval = -ENOENT;
}
return retval;
}
/****************************************************************************/
int ecrt_slave_config_pdo_mapping_clear(ec_slave_config_t *sc,
uint16_t pdo_index)
{
uint8_t sync_index;
ec_pdo_t *pdo = NULL;
EC_CONFIG_DBG(sc, 1, "%s(sc = 0x%p, pdo_index = 0x%04X)\n",
__func__, sc, pdo_index);
for (sync_index = 0; sync_index < EC_MAX_SYNC_MANAGERS; sync_index++)
if ((pdo = ec_pdo_list_find_pdo(
&sc->sync_configs[sync_index].pdos, pdo_index)))
break;
if (pdo) {
down(&sc->master->master_sem);
ec_pdo_clear_entries(pdo);
up(&sc->master->master_sem);
} else {
EC_CONFIG_WARN(sc, "PDO 0x%04X is not assigned.\n", pdo_index);
}
return 0;
}
/****************************************************************************/
int ecrt_slave_config_pdos(ec_slave_config_t *sc,
unsigned int n_syncs, const ec_sync_info_t syncs[])
{
int ret;
unsigned int i, j, k;
const ec_sync_info_t *sync_info;
const ec_pdo_info_t *pdo_info;
const ec_pdo_entry_info_t *entry_info;
EC_CONFIG_DBG(sc, 1, "%s(sc = 0x%p, n_syncs = %u, syncs = 0x%p)\n",
__func__, sc, n_syncs, syncs);
if (!syncs)
return 0;
for (i = 0; i < n_syncs; i++) {
sync_info = &syncs[i];
if (sync_info->index == (uint8_t) EC_END)
break;
if (sync_info->index >= EC_MAX_SYNC_MANAGERS) {
EC_CONFIG_ERR(sc, "Invalid sync manager index %u!\n",
sync_info->index);
return -ENOENT;
}
ret = ecrt_slave_config_sync_manager(sc, sync_info->index,
sync_info->dir, sync_info->watchdog_mode);
if (ret)
return ret;
ecrt_slave_config_pdo_assign_clear(sc, sync_info->index);
if (sync_info->n_pdos && sync_info->pdos) {
for (j = 0; j < sync_info->n_pdos; j++) {
pdo_info = &sync_info->pdos[j];
ret = ecrt_slave_config_pdo_assign_add(
sc, sync_info->index, pdo_info->index);
if (ret)
return ret;
ecrt_slave_config_pdo_mapping_clear(sc, pdo_info->index);
if (pdo_info->n_entries && pdo_info->entries) {
for (k = 0; k < pdo_info->n_entries; k++) {
entry_info = &pdo_info->entries[k];
ret = ecrt_slave_config_pdo_mapping_add(sc,
pdo_info->index, entry_info->index,
entry_info->subindex,
entry_info->bit_length);
if (ret)
return ret;
}
}
}
}
}
return 0;
}
/****************************************************************************/
int ecrt_slave_config_reg_pdo_entry(
ec_slave_config_t *sc,
uint16_t index,
uint8_t subindex,
ec_domain_t *domain,
unsigned int *bit_position
)
{
uint8_t sync_index;
const ec_sync_config_t *sync_config;
unsigned int bit_offset, bit_pos;
ec_pdo_t *pdo;
ec_pdo_entry_t *entry;
int sync_offset;
EC_CONFIG_DBG(sc, 1, "%s(sc = 0x%p, index = 0x%04X, "
"subindex = 0x%02X, domain = 0x%p, bit_position = 0x%p)\n",
__func__, sc, index, subindex, domain, bit_position);
for (sync_index = 0; sync_index < EC_MAX_SYNC_MANAGERS; sync_index++) {
sync_config = &sc->sync_configs[sync_index];
bit_offset = 0;
list_for_each_entry(pdo, &sync_config->pdos.list, list) {
list_for_each_entry(entry, &pdo->entries, list) {
if (entry->index != index || entry->subindex != subindex) {
bit_offset += entry->bit_length;
} else {
bit_pos = bit_offset % 8;
if (bit_position) {
*bit_position = bit_pos;
} else if (bit_pos) {
EC_CONFIG_ERR(sc, "PDO entry 0x%04X:%02X does"
" not byte-align.\n", index, subindex);
return -EFAULT;
}
sync_offset = ec_slave_config_prepare_fmmu(
sc, domain, sync_index, sync_config->dir);
if (sync_offset < 0)
return sync_offset;
return sync_offset + bit_offset / 8;
}
}
}
}
EC_CONFIG_ERR(sc, "PDO entry 0x%04X:%02X is not mapped.\n",
index, subindex);
return -ENOENT;
}
/****************************************************************************/
int ecrt_slave_config_reg_pdo_entry_pos(
ec_slave_config_t *sc,
uint8_t sync_index,
unsigned int pdo_pos,
unsigned int entry_pos,
ec_domain_t *domain,
unsigned int *bit_position
)
{
const ec_sync_config_t *sync_config;
unsigned int bit_offset, pp, ep;
ec_pdo_t *pdo;
ec_pdo_entry_t *entry;
EC_CONFIG_DBG(sc, 1, "%s(sc = 0x%p, sync_index = %u, pdo_pos = %u,"
" entry_pos = %u, domain = 0x%p, bit_position = 0x%p)\n",
__func__, sc, sync_index, pdo_pos, entry_pos,
domain, bit_position);
if (sync_index >= EC_MAX_SYNC_MANAGERS) {
EC_CONFIG_ERR(sc, "Invalid syncmanager position %u.\n", sync_index);
return -EINVAL;
}
sync_config = &sc->sync_configs[sync_index];
bit_offset = 0;
pp = 0;
list_for_each_entry(pdo, &sync_config->pdos.list, list) {
ep = 0;
list_for_each_entry(entry, &pdo->entries, list) {
if (pp != pdo_pos || ep != entry_pos) {
bit_offset += entry->bit_length;
} else {
unsigned int bit_pos = bit_offset % 8;
int sync_offset;
if (bit_position) {
*bit_position = bit_pos;
} else if (bit_pos) {
EC_CONFIG_ERR(sc, "PDO entry 0x%04X:%02X does"
" not byte-align.\n",
pdo->index, entry->subindex);
return -EFAULT;
}
sync_offset = ec_slave_config_prepare_fmmu(
sc, domain, sync_index, sync_config->dir);
if (sync_offset < 0)
return sync_offset;
return sync_offset + bit_offset / 8;
}
ep++;
}
pp++;
}
EC_CONFIG_ERR(sc, "PDO entry specification %u/%u/%u out of range.\n",
sync_index, pdo_pos, entry_pos);
return -ENOENT;
}
/****************************************************************************/
int ecrt_slave_config_dc(ec_slave_config_t *sc, uint16_t assign_activate,
uint32_t sync0_cycle_time, int32_t sync0_shift_time,
uint32_t sync1_cycle_time, int32_t sync1_shift_time)
{
EC_CONFIG_DBG(sc, 1, "%s(sc = 0x%p, assign_activate = 0x%04X,"
" sync0_cycle = %u, sync0_shift = %i,"
" sync1_cycle = %u, sync1_shift = %i\n",
__func__, sc, assign_activate, sync0_cycle_time, sync0_shift_time,
sync1_cycle_time, sync1_shift_time);
sc->dc_assign_activate = assign_activate;
sc->dc_sync[0].cycle_time = sync0_cycle_time;
sc->dc_sync[0].shift_time = sync0_shift_time;
sc->dc_sync[1].cycle_time = sync1_cycle_time;
sc->dc_sync[1].shift_time = sync1_shift_time;
return 0;
}
/****************************************************************************/
int ecrt_slave_config_sdo(ec_slave_config_t *sc, uint16_t index,
uint8_t subindex, const uint8_t *data, size_t size)
{
ec_slave_t *slave = sc->slave;
ec_sdo_request_t *req;
int ret;
EC_CONFIG_DBG(sc, 1, "%s(sc = 0x%p, index = 0x%04X, "
"subindex = 0x%02X, data = 0x%p, size = %zu)\n",
__func__, sc, index, subindex, data, size);
if (slave && !(slave->sii.mailbox_protocols & EC_MBOX_COE)) {
EC_CONFIG_WARN(sc, "Attached slave does not support CoE!\n");
}
if (!(req = (ec_sdo_request_t *)
kmalloc(sizeof(ec_sdo_request_t), GFP_KERNEL))) {
EC_CONFIG_ERR(sc, "Failed to allocate memory for"
" SDO configuration!\n");
return -ENOMEM;
}
ec_sdo_request_init(req);
ecrt_sdo_request_index(req, index, subindex);
ret = ec_sdo_request_copy_data(req, data, size);
if (ret < 0) {
ec_sdo_request_clear(req);
kfree(req);
return ret;
}
down(&sc->master->master_sem);
list_add_tail(&req->list, &sc->sdo_configs);
up(&sc->master->master_sem);
return 0;
}
/****************************************************************************/
int ecrt_slave_config_sdo8(ec_slave_config_t *sc, uint16_t index,
uint8_t subindex, uint8_t value)
{
uint8_t data[1];
EC_CONFIG_DBG(sc, 1, "%s(sc = 0x%p, index = 0x%04X, "
"subindex = 0x%02X, value = %u)\n",
__func__, sc, index, subindex, (unsigned int) value);
EC_WRITE_U8(data, value);
return ecrt_slave_config_sdo(sc, index, subindex, data, 1);
}
/****************************************************************************/
int ecrt_slave_config_sdo16(ec_slave_config_t *sc, uint16_t index,
uint8_t subindex, uint16_t value)
{
uint8_t data[2];
EC_CONFIG_DBG(sc, 1, "%s(sc = 0x%p, index = 0x%04X, "
"subindex = 0x%02X, value = %u)\n",
__func__, sc, index, subindex, value);
EC_WRITE_U16(data, value);
return ecrt_slave_config_sdo(sc, index, subindex, data, 2);
}
/****************************************************************************/
int ecrt_slave_config_sdo32(ec_slave_config_t *sc, uint16_t index,
uint8_t subindex, uint32_t value)
{
uint8_t data[4];
EC_CONFIG_DBG(sc, 1, "%s(sc = 0x%p, index = 0x%04X, "
"subindex = 0x%02X, value = %u)\n",
__func__, sc, index, subindex, value);
EC_WRITE_U32(data, value);
return ecrt_slave_config_sdo(sc, index, subindex, data, 4);
}
/****************************************************************************/
int ecrt_slave_config_complete_sdo(ec_slave_config_t *sc, uint16_t index,
const uint8_t *data, size_t size)
{
ec_slave_t *slave = sc->slave;
ec_sdo_request_t *req;
int ret;
EC_CONFIG_DBG(sc, 1, "%s(sc = 0x%p, index = 0x%04X, "
"data = 0x%p, size = %zu)\n", __func__, sc, index, data, size);
if (slave && !(slave->sii.mailbox_protocols & EC_MBOX_COE)) {
EC_CONFIG_WARN(sc, "Attached slave does not support CoE!\n");
}
if (!(req = (ec_sdo_request_t *)
kmalloc(sizeof(ec_sdo_request_t), GFP_KERNEL))) {
EC_CONFIG_ERR(sc, "Failed to allocate memory for"
" SDO configuration!\n");
return -ENOMEM;
}
ec_sdo_request_init(req);
ecrt_sdo_request_index(req, index, 0);
req->complete_access = 1;
ret = ec_sdo_request_copy_data(req, data, size);
if (ret < 0) {
ec_sdo_request_clear(req);
kfree(req);
return ret;
}
down(&sc->master->master_sem);
list_add_tail(&req->list, &sc->sdo_configs);
up(&sc->master->master_sem);
return 0;
}
/****************************************************************************/
int ecrt_slave_config_emerg_size(ec_slave_config_t *sc, size_t elements)
{
return ec_coe_emerg_ring_size(&sc->emerg_ring, elements);
}
/****************************************************************************/
int ecrt_slave_config_emerg_pop(ec_slave_config_t *sc, uint8_t *target)
{
return ec_coe_emerg_ring_pop(&sc->emerg_ring, target);
}
/****************************************************************************/
int ecrt_slave_config_emerg_clear(ec_slave_config_t *sc)
{
return ec_coe_emerg_ring_clear_ring(&sc->emerg_ring);
}
/****************************************************************************/
int ecrt_slave_config_emerg_overruns(const ec_slave_config_t *sc)
{
return ec_coe_emerg_ring_overruns(&sc->emerg_ring);
}
/****************************************************************************/
/** Same as ecrt_slave_config_create_sdo_request(), but with ERR_PTR() return
* value.
*/
ec_sdo_request_t *ecrt_slave_config_create_sdo_request_err(
ec_slave_config_t *sc, uint16_t index, uint8_t subindex, size_t size)
{
ec_sdo_request_t *req;
int ret;
EC_CONFIG_DBG(sc, 1, "%s(sc = 0x%p, "
"index = 0x%04X, subindex = 0x%02X, size = %zu)\n",
__func__, sc, index, subindex, size);
if (!(req = (ec_sdo_request_t *)
kmalloc(sizeof(ec_sdo_request_t), GFP_KERNEL))) {
EC_CONFIG_ERR(sc, "Failed to allocate SDO request memory!\n");
return ERR_PTR(-ENOMEM);
}
ec_sdo_request_init(req);
ecrt_sdo_request_index(req, index, subindex);
ret = ec_sdo_request_alloc(req, size);
if (ret < 0) {
ec_sdo_request_clear(req);
kfree(req);
return ERR_PTR(ret);
}
// prepare data for optional writing
memset(req->data, 0x00, size);
req->data_size = size;
down(&sc->master->master_sem);
list_add_tail(&req->list, &sc->sdo_requests);
up(&sc->master->master_sem);
return req;
}
/****************************************************************************/
ec_sdo_request_t *ecrt_slave_config_create_sdo_request(
ec_slave_config_t *sc, uint16_t index, uint8_t subindex, size_t size)
{
ec_sdo_request_t *s = ecrt_slave_config_create_sdo_request_err(sc, index,
subindex, size);
return IS_ERR(s) ? NULL : s;
}
/****************************************************************************/
/** Same as ecrt_slave_config_create_soe_request(), but with ERR_PTR() return
* value.
*/
ec_soe_request_t *ecrt_slave_config_create_soe_request_err(
ec_slave_config_t *sc, uint8_t drive_no, uint16_t idn, size_t size)
{
ec_soe_request_t *req;
int ret;
EC_CONFIG_DBG(sc, 1, "%s(sc = 0x%p, "
"drive_no = 0x%02X, idn = 0x%04X, size = %zu)\n",
__func__, sc, drive_no, idn, size);
if (!(req = (ec_soe_request_t *)
kmalloc(sizeof(ec_soe_request_t), GFP_KERNEL))) {
EC_CONFIG_ERR(sc, "Failed to allocate IDN request memory!\n");
return ERR_PTR(-ENOMEM);
}
ec_soe_request_init(req);
ecrt_soe_request_idn(req, drive_no, idn);
ret = ec_soe_request_alloc(req, size);
if (ret < 0) {
ec_soe_request_clear(req);
kfree(req);
return ERR_PTR(ret);
}
// prepare data for optional writing
memset(req->data, 0x00, size);
req->data_size = size;
down(&sc->master->master_sem);
list_add_tail(&req->list, &sc->soe_requests);
up(&sc->master->master_sem);
return req;
}
/****************************************************************************/
ec_soe_request_t *ecrt_slave_config_create_soe_request(
ec_slave_config_t *sc, uint8_t drive_no, uint16_t idn, size_t size)
{
ec_soe_request_t *req = ecrt_slave_config_create_soe_request_err(sc,
drive_no, idn, size);
return IS_ERR(req) ? NULL : req;
}
/****************************************************************************/
/** Same as ecrt_slave_config_create_reg_request(), but with ERR_PTR() return
* value.
*/
ec_reg_request_t *ecrt_slave_config_create_reg_request_err(
ec_slave_config_t *sc, size_t size)
{
ec_reg_request_t *reg;
int ret;
EC_CONFIG_DBG(sc, 1, "%s(sc = 0x%p, size = %zu)\n",
__func__, sc, size);
if (!(reg = (ec_reg_request_t *)
kmalloc(sizeof(ec_reg_request_t), GFP_KERNEL))) {
EC_CONFIG_ERR(sc, "Failed to allocate register request memory!\n");
return ERR_PTR(-ENOMEM);
}
ret = ec_reg_request_init(reg, size);
if (ret) {
kfree(reg);
return ERR_PTR(ret);
}
down(&sc->master->master_sem);
list_add_tail(&reg->list, &sc->reg_requests);
up(&sc->master->master_sem);
return reg;
}
/****************************************************************************/
ec_reg_request_t *ecrt_slave_config_create_reg_request(
ec_slave_config_t *sc, size_t size)
{
ec_reg_request_t *reg =
ecrt_slave_config_create_reg_request_err(sc, size);
return IS_ERR(reg) ? NULL : reg;
}
/****************************************************************************/
/** Same as ecrt_slave_config_create_voe_handler(), but with ERR_PTR() return
* value.
*/
ec_voe_handler_t *ecrt_slave_config_create_voe_handler_err(
ec_slave_config_t *sc, size_t size)
{
ec_voe_handler_t *voe;
int ret;
EC_CONFIG_DBG(sc, 1, "%s(sc = 0x%p, size = %zu)\n", __func__, sc, size);
if (!(voe = (ec_voe_handler_t *)
kmalloc(sizeof(ec_voe_handler_t), GFP_KERNEL))) {
EC_CONFIG_ERR(sc, "Failed to allocate VoE request memory!\n");
return ERR_PTR(-ENOMEM);
}
ret = ec_voe_handler_init(voe, sc, size);
if (ret < 0) {
kfree(voe);
return ERR_PTR(ret);
}
down(&sc->master->master_sem);
list_add_tail(&voe->list, &sc->voe_handlers);
up(&sc->master->master_sem);
return voe;
}
/****************************************************************************/
ec_voe_handler_t *ecrt_slave_config_create_voe_handler(
ec_slave_config_t *sc, size_t size)
{
ec_voe_handler_t *voe = ecrt_slave_config_create_voe_handler_err(sc,
size);
return IS_ERR(voe) ? NULL : voe;
}
/****************************************************************************/
int ecrt_slave_config_state(const ec_slave_config_t *sc,
ec_slave_config_state_t *state)
{
const ec_slave_t *slave = sc->slave;
state->online = slave ? 1 : 0;
if (state->online) {
state->operational =
slave->current_state == EC_SLAVE_STATE_OP && !slave->force_config;
state->al_state = slave->current_state;
} else {
state->operational = 0;
state->al_state = EC_SLAVE_STATE_UNKNOWN;
}
return 0;
}
/****************************************************************************/
int ecrt_slave_config_idn(ec_slave_config_t *sc, uint8_t drive_no,
uint16_t idn, ec_al_state_t state, const uint8_t *data,
size_t size)
{
ec_slave_t *slave = sc->slave;
ec_soe_request_t *req;
int ret;
EC_CONFIG_DBG(sc, 1, "%s(sc = 0x%p, drive_no = %u, idn = 0x%04X, "
"state = %u, data = 0x%p, size = %zu)\n",
__func__, sc, drive_no, idn, state, data, size);
if (drive_no > 7) {
EC_CONFIG_ERR(sc, "Invalid drive number %u!\n",
(unsigned int) drive_no);
return -EINVAL;
}
if (state != EC_AL_STATE_PREOP && state != EC_AL_STATE_SAFEOP) {
EC_CONFIG_ERR(sc, "AL state for IDN config"
" must be PREOP or SAFEOP!\n");
return -EINVAL;
}
if (slave && !(slave->sii.mailbox_protocols & EC_MBOX_SOE)) {
EC_CONFIG_WARN(sc, "Attached slave does not support SoE!\n");
}
if (!(req = (ec_soe_request_t *)
kmalloc(sizeof(ec_soe_request_t), GFP_KERNEL))) {
EC_CONFIG_ERR(sc, "Failed to allocate memory for"
" IDN configuration!\n");
return -ENOMEM;
}
ec_soe_request_init(req);
ec_soe_request_set_drive_no(req, drive_no);
ec_soe_request_set_idn(req, idn);
req->al_state = state;
ret = ec_soe_request_copy_data(req, data, size);
if (ret < 0) {
ec_soe_request_clear(req);
kfree(req);
return ret;
}
down(&sc->master->master_sem);
list_add_tail(&req->list, &sc->soe_configs);
up(&sc->master->master_sem);
return 0;
}
/****************************************************************************/
int ecrt_slave_config_flag(ec_slave_config_t *sc, const char *key,
int32_t value)
{
ec_flag_t *flag;
EC_CONFIG_DBG(sc, 1, "%s(sc = 0x%p, key = %s, value = %i)\n",
__func__, sc, key, value);
flag = ec_slave_config_find_flag(sc, key);
if (flag) {
flag->value = value; // overwrite value
}
else { // new flag
int ret;
if (!(flag = (ec_flag_t *) kmalloc(sizeof(ec_flag_t), GFP_KERNEL))) {
EC_CONFIG_ERR(sc, "Failed to allocate memory for flag!\n");
return -ENOMEM;
}
ret = ec_flag_init(flag, key, value);
if (ret) {
kfree(flag);
return ret;
}
down(&sc->master->master_sem);
list_add_tail(&flag->list, &sc->flags);
up(&sc->master->master_sem);
}
return 0;
}
/****************************************************************************/
#ifdef EC_EOE
int ecrt_slave_config_eoe_mac_address(ec_slave_config_t *sc,
const unsigned char *mac_address)
{
memcpy(sc->eoe_ip_param_request.mac_address, mac_address, EC_ETH_ALEN);
sc->eoe_ip_param_request.mac_address_included = 1;
return 0;
}
/****************************************************************************/
int ecrt_slave_config_eoe_ip_address(ec_slave_config_t *sc,
struct in_addr ip_address)
{
sc->eoe_ip_param_request.ip_address = ip_address;
sc->eoe_ip_param_request.ip_address_included = 1;
return 0;
}
/****************************************************************************/
int ecrt_slave_config_eoe_subnet_mask(ec_slave_config_t *sc,
struct in_addr subnet_mask)
{
sc->eoe_ip_param_request.subnet_mask = subnet_mask;
sc->eoe_ip_param_request.subnet_mask_included = 1;
return 0;
}
/****************************************************************************/
int ecrt_slave_config_eoe_default_gateway(ec_slave_config_t *sc,
struct in_addr gateway_address)
{
sc->eoe_ip_param_request.gateway = gateway_address;
sc->eoe_ip_param_request.gateway_included = 1;
return 0;
}
/****************************************************************************/
int ecrt_slave_config_eoe_dns_address(ec_slave_config_t *sc,
struct in_addr dns_address)
{
sc->eoe_ip_param_request.dns = dns_address;
sc->eoe_ip_param_request.dns_included = 1;
return 0;
}
/****************************************************************************/
int ecrt_slave_config_eoe_hostname(ec_slave_config_t *sc,
const char *name)
{
strncpy(sc->eoe_ip_param_request.name, name, EC_MAX_HOSTNAME_SIZE - 1);
sc->eoe_ip_param_request.name_included = 1;
return 0;
}
#endif
/****************************************************************************/
int ecrt_slave_config_state_timeout(ec_slave_config_t *sc,
ec_al_state_t from, ec_al_state_t to, unsigned int timeout_ms)
{
ec_al_timeout_t *timeout;
ec_slave_state_t from_state, to_state;
if (from != EC_AL_STATE_INIT && from != EC_AL_STATE_PREOP &&
from != EC_AL_STATE_SAFEOP && from != EC_AL_STATE_OP) {
EC_CONFIG_ERR(sc, "Invalid from state %i.\n", from);
return -EINVAL;
}
if (to != EC_AL_STATE_INIT && to != EC_AL_STATE_PREOP &&
to != EC_AL_STATE_SAFEOP && to != EC_AL_STATE_OP) {
EC_CONFIG_ERR(sc, "Invalid to state %i.\n", to);
return -EINVAL;
}
from_state = (ec_slave_state_t) from;
to_state = (ec_slave_state_t) to;
/* try to find an already configured timeout. */
list_for_each_entry(timeout, &sc->al_timeouts, list) {
if (timeout->from == from_state && timeout->to == to_state) {
if (timeout_ms == 0) {
// delete configured value
list_del(&timeout->list);
kfree(timeout);
return 0;
}
timeout->timeout_ms = timeout_ms;
return 0;
}
}
if (timeout_ms == 0) {
return 0;
}
/* no timeout found. create one. */
if (!(timeout = (ec_al_timeout_t *)
kmalloc(sizeof(ec_al_timeout_t), GFP_KERNEL))) {
EC_CONFIG_ERR(sc, "Failed to allocate memory for"
" AL timeout configuration!\n");
return -ENOMEM;
}
timeout->from = from_state;
timeout->to = to_state;
timeout->timeout_ms = timeout_ms;
down(&sc->master->master_sem);
list_add_tail(&timeout->list, &sc->al_timeouts);
up(&sc->master->master_sem);
return 0;
}
/****************************************************************************/
/** \cond */
EXPORT_SYMBOL(ecrt_slave_config_sync_manager);
EXPORT_SYMBOL(ecrt_slave_config_watchdog);
EXPORT_SYMBOL(ecrt_slave_config_pdo_assign_add);
EXPORT_SYMBOL(ecrt_slave_config_pdo_assign_clear);
EXPORT_SYMBOL(ecrt_slave_config_pdo_mapping_add);
EXPORT_SYMBOL(ecrt_slave_config_pdo_mapping_clear);
EXPORT_SYMBOL(ecrt_slave_config_pdos);
EXPORT_SYMBOL(ecrt_slave_config_reg_pdo_entry);
EXPORT_SYMBOL(ecrt_slave_config_reg_pdo_entry_pos);
EXPORT_SYMBOL(ecrt_slave_config_dc);
EXPORT_SYMBOL(ecrt_slave_config_sdo);
EXPORT_SYMBOL(ecrt_slave_config_sdo8);
EXPORT_SYMBOL(ecrt_slave_config_sdo16);
EXPORT_SYMBOL(ecrt_slave_config_sdo32);
EXPORT_SYMBOL(ecrt_slave_config_complete_sdo);
EXPORT_SYMBOL(ecrt_slave_config_emerg_size);
EXPORT_SYMBOL(ecrt_slave_config_emerg_pop);
EXPORT_SYMBOL(ecrt_slave_config_emerg_clear);
EXPORT_SYMBOL(ecrt_slave_config_emerg_overruns);
EXPORT_SYMBOL(ecrt_slave_config_create_sdo_request);
EXPORT_SYMBOL(ecrt_slave_config_create_soe_request);
EXPORT_SYMBOL(ecrt_slave_config_create_voe_handler);
EXPORT_SYMBOL(ecrt_slave_config_create_reg_request);
EXPORT_SYMBOL(ecrt_slave_config_state);
EXPORT_SYMBOL(ecrt_slave_config_idn);
EXPORT_SYMBOL(ecrt_slave_config_flag);
#ifdef EOE
EXPORT_SYMBOL(ecrt_slave_config_eoe_mac_address);
EXPORT_SYMBOL(ecrt_slave_config_eoe_ip_address);
EXPORT_SYMBOL(ecrt_slave_config_eoe_subnet_mask);
EXPORT_SYMBOL(ecrt_slave_config_eoe_default_gateway);
EXPORT_SYMBOL(ecrt_slave_config_eoe_dns_address);
EXPORT_SYMBOL(ecrt_slave_config_eoe_hostname);
#endif
EXPORT_SYMBOL(ecrt_slave_config_state_timeout);
/** \endcond */
/****************************************************************************/
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