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EEPROM writing via SysFS.

This commit is contained in:
Florian Pose 2006-06-02 14:25:45 +00:00
parent 67c2858334
commit 51af5bb52f
4 changed files with 251 additions and 19 deletions
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179
master/fsm.c
View File

@ -58,6 +58,7 @@ void ec_fsm_master_validate_product(ec_fsm_t *);
void ec_fsm_master_reconfigure(ec_fsm_t *);
void ec_fsm_master_address(ec_fsm_t *);
void ec_fsm_master_conf(ec_fsm_t *);
void ec_fsm_master_eeprom(ec_fsm_t *);
void ec_fsm_slave_start_reading(ec_fsm_t *);
void ec_fsm_slave_read_status(ec_fsm_t *);
@ -77,8 +78,11 @@ void ec_fsm_slave_op(ec_fsm_t *);
void ec_fsm_slave_op2(ec_fsm_t *);
void ec_fsm_sii_start_reading(ec_fsm_t *);
void ec_fsm_sii_check(ec_fsm_t *);
void ec_fsm_sii_fetch(ec_fsm_t *);
void ec_fsm_sii_read_check(ec_fsm_t *);
void ec_fsm_sii_read_fetch(ec_fsm_t *);
void ec_fsm_sii_start_writing(ec_fsm_t *);
void ec_fsm_sii_write_check(ec_fsm_t *);
void ec_fsm_sii_write_check2(ec_fsm_t *);
void ec_fsm_sii_end(ec_fsm_t *);
void ec_fsm_sii_error(ec_fsm_t *);
@ -406,7 +410,25 @@ void ec_fsm_master_proc_states(ec_fsm_t *fsm /**< finite state machine */)
return;
}
// nothing to configure. restart master state machine.
if (master->mode == EC_MASTER_MODE_FREERUN) {
// nothing to configure. check for pending EEPROM write operations.
list_for_each_entry(slave, &master->slaves, list) {
if (!slave->new_eeprom_data) continue;
// found pending EEPROM write operation. execute it!
EC_INFO("Writing EEPROM of slave %i...\n", slave->ring_position);
fsm->sii_offset = 0x0000;
memcpy(fsm->sii_value, slave->new_eeprom_data, 2);
fsm->sii_mode = 1;
fsm->sii_state = ec_fsm_sii_start_writing;
fsm->slave = slave;
fsm->master_state = ec_fsm_master_eeprom;
fsm->master_state(fsm); // execute immediately
return;
}
}
// nothing to do. restart master state machine.
fsm->master_state = ec_fsm_master_start;
fsm->master_state(fsm); // execute immediately
}
@ -434,7 +456,7 @@ void ec_fsm_master_validate_vendor(ec_fsm_t *fsm /**< finite state machine */)
if (fsm->sii_state != ec_fsm_sii_end) return;
if (EC_READ_U32(fsm->sii_result) != slave->sii_vendor_id) {
if (EC_READ_U32(fsm->sii_value) != slave->sii_vendor_id) {
EC_ERR("Slave %i: invalid vendor ID!\n", slave->ring_position);
fsm->master_state = ec_fsm_master_start;
fsm->master_state(fsm); // execute immediately
@ -472,10 +494,10 @@ void ec_fsm_master_validate_product(ec_fsm_t *fsm /**< finite state machine */)
if (fsm->sii_state != ec_fsm_sii_end) return;
if (EC_READ_U32(fsm->sii_result) != slave->sii_product_code) {
if (EC_READ_U32(fsm->sii_value) != slave->sii_product_code) {
EC_ERR("Slave %i: invalid product code!\n", slave->ring_position);
EC_ERR("expected 0x%08X, got 0x%08X.\n", slave->sii_product_code,
EC_READ_U32(fsm->sii_result));
EC_READ_U32(fsm->sii_value));
fsm->master_state = ec_fsm_master_start;
fsm->master_state(fsm); // execute immediately
return;
@ -666,6 +688,49 @@ void ec_fsm_master_conf(ec_fsm_t *fsm /**< finite state machine */)
fsm->master_state(fsm); // execute immediately
}
/*****************************************************************************/
/**
Master state: EEPROM.
*/
void ec_fsm_master_eeprom(ec_fsm_t *fsm /**< finite state machine */)
{
ec_slave_t *slave = fsm->slave;
fsm->sii_state(fsm); // execute SII state machine
if (fsm->sii_state == ec_fsm_sii_error) {
EC_ERR("Failed to write EEPROM contents to slave %i.\n",
slave->ring_position);
kfree(slave->new_eeprom_data);
slave->new_eeprom_data = NULL;
fsm->master_state = ec_fsm_master_start;
fsm->master_state(fsm); // execute immediately
return;
}
if (fsm->sii_state != ec_fsm_sii_end) return;
fsm->sii_offset++;
if (fsm->sii_offset < slave->new_eeprom_size) {
memcpy(fsm->sii_value, slave->new_eeprom_data + fsm->sii_offset, 2);
fsm->sii_state = ec_fsm_sii_start_writing;
fsm->sii_state(fsm); // execute immediately
return;
}
// finished writing EEPROM
EC_INFO("Finished writing EEPROM of slave %i.\n", slave->ring_position);
kfree(slave->new_eeprom_data);
slave->new_eeprom_data = NULL;
// restart master state machine.
fsm->master_state = ec_fsm_master_start;
fsm->master_state(fsm); // execute immediately
return;
}
/******************************************************************************
* slave state machine
*****************************************************************************/
@ -834,8 +899,8 @@ void ec_fsm_slave_fetch_eeprom(ec_fsm_t *fsm /**< finite state machine */)
if (fsm->sii_state != ec_fsm_sii_end) return;
cat_type = EC_READ_U16(fsm->sii_result);
cat_size = EC_READ_U16(fsm->sii_result + 2);
cat_type = EC_READ_U16(fsm->sii_value);
cat_size = EC_READ_U16(fsm->sii_value + 2);
if (cat_type != 0xFFFF) { // not the last category
fsm->sii_offset += cat_size + 2;
@ -895,10 +960,10 @@ void ec_fsm_slave_fetch_eeprom2(ec_fsm_t *fsm /**< finite state machine */)
// 2 words fetched
if (fsm->sii_offset + 2 <= slave->eeprom_size / 2) { // 2 words fit
memcpy(slave->eeprom_data + fsm->sii_offset * 2, fsm->sii_result, 4);
memcpy(slave->eeprom_data + fsm->sii_offset * 2, fsm->sii_value, 4);
}
else { // copy the last word
memcpy(slave->eeprom_data + fsm->sii_offset * 2, fsm->sii_result, 2);
memcpy(slave->eeprom_data + fsm->sii_offset * 2, fsm->sii_value, 2);
}
if (fsm->sii_offset + 2 < slave->eeprom_size / 2) {
@ -1305,17 +1370,17 @@ void ec_fsm_sii_start_reading(ec_fsm_t *fsm /**< finite state machine */)
EC_WRITE_U8 (command->data + 1, 0x01); // request read operation
EC_WRITE_U16(command->data + 2, fsm->sii_offset);
ec_master_queue_command(fsm->master, command);
fsm->sii_state = ec_fsm_sii_check;
fsm->sii_state = ec_fsm_sii_read_check;
}
/*****************************************************************************/
/**
SII state: CHECK.
SII state: READ_CHECK.
Checks, if the SII-read-command has been sent and issues a fetch command.
*/
void ec_fsm_sii_check(ec_fsm_t *fsm /**< finite state machine */)
void ec_fsm_sii_read_check(ec_fsm_t *fsm /**< finite state machine */)
{
ec_command_t *command = &fsm->command;
@ -1336,17 +1401,17 @@ void ec_fsm_sii_check(ec_fsm_t *fsm /**< finite state machine */)
}
ec_master_queue_command(fsm->master, command);
fsm->sii_state = ec_fsm_sii_fetch;
fsm->sii_state = ec_fsm_sii_read_fetch;
}
/*****************************************************************************/
/**
SII state: FETCH.
SII state: READ_FETCH.
Fetches the result of an SII-read command.
*/
void ec_fsm_sii_fetch(ec_fsm_t *fsm /**< finite state machine */)
void ec_fsm_sii_read_fetch(ec_fsm_t *fsm /**< finite state machine */)
{
ec_command_t *command = &fsm->command;
@ -1391,12 +1456,92 @@ void ec_fsm_sii_fetch(ec_fsm_t *fsm /**< finite state machine */)
#endif
// SII value received.
memcpy(fsm->sii_result, command->data + 6, 4);
memcpy(fsm->sii_value, command->data + 6, 4);
fsm->sii_state = ec_fsm_sii_end;
}
/*****************************************************************************/
/**
SII state: START_WRITING.
Starts reading the slave information interface.
*/
void ec_fsm_sii_start_writing(ec_fsm_t *fsm /**< finite state machine */)
{
ec_command_t *command = &fsm->command;
// initiate write operation
ec_command_npwr(command, fsm->slave->station_address, 0x502, 8);
EC_WRITE_U8 (command->data, 0x01); // enable write access
EC_WRITE_U8 (command->data + 1, 0x02); // request write operation
EC_WRITE_U32(command->data + 2, fsm->sii_offset);
memcpy(command->data + 6, fsm->sii_value, 2);
ec_master_queue_command(fsm->master, command);
fsm->sii_state = ec_fsm_sii_write_check;
}
/*****************************************************************************/
/**
SII state: WRITE_CHECK.
*/
void ec_fsm_sii_write_check(ec_fsm_t *fsm /**< finite state machine */)
{
ec_command_t *command = &fsm->command;
if (command->state != EC_CMD_RECEIVED || command->working_counter != 1) {
EC_ERR("SII: Reception of write command failed.\n");
fsm->sii_state = ec_fsm_sii_error;
return;
}
fsm->sii_start = get_cycles();
// issue check/fetch command
ec_command_nprd(command, fsm->slave->station_address, 0x502, 2);
ec_master_queue_command(fsm->master, command);
fsm->sii_state = ec_fsm_sii_write_check2;
}
/*****************************************************************************/
/**
SII state: WRITE_CHECK2.
*/
void ec_fsm_sii_write_check2(ec_fsm_t *fsm /**< finite state machine */)
{
ec_command_t *command = &fsm->command;
if (command->state != EC_CMD_RECEIVED || command->working_counter != 1) {
EC_ERR("SII: Reception of write check command failed.\n");
fsm->sii_state = ec_fsm_sii_error;
return;
}
if (EC_READ_U8(command->data + 1) & 0x82) {
// still busy... timeout?
if (get_cycles() - fsm->sii_start >= (cycles_t) 10 * cpu_khz) {
EC_ERR("SII: Write timeout.\n");
fsm->sii_state = ec_fsm_sii_error;
}
// issue check/fetch command again
ec_master_queue_command(fsm->master, command);
}
else if (EC_READ_U8(command->data + 1) & 0x40) {
EC_ERR("SII: Write operation failed!\n");
fsm->sii_state = ec_fsm_sii_error;
}
else { // success
fsm->sii_state = ec_fsm_sii_end;
}
}
/*****************************************************************************/
/**
SII state: END.
End state of the slave SII state machine.

2
master/fsm.h
View File

@ -71,7 +71,7 @@ struct ec_fsm
void (*sii_state)(ec_fsm_t *); /**< SII state function */
uint16_t sii_offset; /**< input: offset in SII */
unsigned int sii_mode; /**< SII reading done by APRD (0) or NPRD (1) */
uint8_t sii_result[4]; /**< output: raw SII value (32bit) */
uint8_t sii_value[4]; /**< raw SII value (32bit) */
cycles_t sii_start; /**< sii start */
void (*change_state)(ec_fsm_t *); /**< slave state change state function */

86
master/slave.c
View File

@ -69,7 +69,7 @@ EC_SYSFS_READ_ATTR(product_desc);
EC_SYSFS_READ_ATTR(sii_name);
EC_SYSFS_READ_ATTR(type);
EC_SYSFS_READ_WRITE_ATTR(state);
EC_SYSFS_READ_ATTR(eeprom);
EC_SYSFS_READ_WRITE_ATTR(eeprom);
static struct attribute *def_attrs[] = {
&attr_ring_position,
@ -157,6 +157,8 @@ int ec_slave_init(ec_slave_t *slave, /**< EtherCAT slave */
slave->current_state = EC_SLAVE_STATE_UNKNOWN;
slave->state_error = 0;
slave->online = 1;
slave->new_eeprom_data = NULL;
slave->new_eeprom_size = 0;
ec_command_init(&slave->mbox_command);
@ -239,6 +241,7 @@ void ec_slave_clear(struct kobject *kobj /**< kobject of the slave */)
}
if (slave->eeprom_data) kfree(slave->eeprom_data);
if (slave->new_eeprom_data) kfree(slave->new_eeprom_data);
ec_command_clear(&slave->mbox_command);
}
@ -1246,6 +1249,83 @@ int ec_slave_check_crc(ec_slave_t *slave /**< EtherCAT slave */)
/*****************************************************************************/
/**
Schedules an EEPROM write operation.
\return 0 in case of success, else < 0
*/
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 */
)
{
uint16_t word_size, cat_type, cat_size;
const uint16_t *data_words, *next_header;
uint16_t *new_data;
if (!slave->master->eeprom_write_enable) {
EC_ERR("Writing EEPROMs not allowed! Enable via"
" eeprom_write_enable SysFS entry.\n");
return -1;
}
if (slave->master->mode != EC_MASTER_MODE_FREERUN) {
EC_ERR("Writing EEPROMs only allowed in freerun mode!\n");
return -1;
}
if (slave->new_eeprom_data) {
EC_ERR("Slave %i already has a pending EEPROM write operation!\n",
slave->ring_position);
return -1;
}
// coarse check of the data
if (size % 2) {
EC_ERR("EEPROM size is odd! Dropping.\n");
return -1;
}
data_words = (const uint16_t *) data;
word_size = size / 2;
if (word_size < 0x0041) {
EC_ERR("EEPROM data too short! Dropping.\n");
return -1;
}
next_header = data_words + 0x0040;
cat_type = EC_READ_U16(next_header);
while (cat_type != 0xFFFF) {
cat_type = EC_READ_U16(next_header);
cat_size = EC_READ_U16(next_header + 1);
if ((next_header + cat_size + 2) - data_words >= word_size) {
EC_ERR("EEPROM data seems to be corrupted! Dropping.\n");
return -1;
}
next_header += cat_size + 2;
cat_type = EC_READ_U16(next_header);
}
// data ok!
if (!(new_data = (uint16_t *) kmalloc(word_size * 2, GFP_KERNEL))) {
EC_ERR("Unable to allocate memory for new EEPROM data!\n");
return -1;
}
memcpy(new_data, data, size);
slave->new_eeprom_size = word_size;
slave->new_eeprom_data = new_data;
EC_INFO("EEPROM writing scheduled for slave %i, %i words.\n",
slave->ring_position, word_size);
return 0;
}
/*****************************************************************************/
/**
Formats attribute data for SysFS read access.
\return number of bytes to read
@ -1359,6 +1439,10 @@ ssize_t ec_store_slave_attribute(struct kobject *kobj, /**< slave's kobject */
EC_ERR("Failed to set slave state!\n");
}
else if (attr == &attr_eeprom) {
if (!ec_slave_write_eeprom(slave, buffer, size))
return size;
}
return -EINVAL;
}

3
master/slave.h
View File

@ -271,6 +271,9 @@ struct ec_slave
char *eeprom_order; /**< slave order number acc. to EEPROM */
char *eeprom_name; /**< slave name acc. to EEPROM */
uint16_t *new_eeprom_data; /**< new EEPROM data to write */
size_t new_eeprom_size; /**< size of new EEPROM data in words */
struct list_head sdo_dictionary; /**< SDO directory list */
ec_command_t mbox_command; /**< mailbox command */