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

     2

 *

     3

 *  $Id$

     4

 *

     5

 *  Copyright (C) 2006  Florian Pose, Ingenieurgemeinschaft IgH

     6

 *

     7

 *  This file is part of the IgH EtherCAT Master.

     8

 *

     9

 *  The IgH EtherCAT Master is free software; you can redistribute it

    10

 *  and/or modify it under the terms of the GNU General Public License

    11

 *  as published by the Free Software Foundation; either version 2 of the

    12

 *  License, or (at your option) any later version.

    13

 *

    14

 *  The IgH EtherCAT Master is distributed in the hope that it will be

    15

 *  useful, but WITHOUT ANY WARRANTY; without even the implied warranty of

    16

 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

    17

 *  GNU General Public License for more details.

    18

 *

    19

 *  You should have received a copy of the GNU General Public License

    20

 *  along with the IgH EtherCAT Master; if not, write to the Free Software

    21

 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA

    22

 *

    23

 *  The right to use EtherCAT Technology is granted and comes free of

    24

 *  charge under condition of compatibility of product made by

    25

 *  Licensee. People intending to distribute/sell products based on the

    26

 *  code, have to sign an agreement to guarantee that products using

    27

 *  software based on IgH EtherCAT master stay compatible with the actual

    28

 *  EtherCAT specification (which are released themselves as an open

    29

 *  standard) as the (only) precondition to have the right to use EtherCAT

    30

 *  Technology, IP and trade marks.

    31

 *

    32

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

    33

    34

/**

    35

   \file

    36

   EtherCAT master methods.

    37

*/

    38

    39

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

    40

    41

#include <linux/module.h>

    42

#include <linux/kernel.h>

    43

#include <linux/string.h>

    44

#include <linux/slab.h>

    45

#include <linux/delay.h>

    46

    47

#include "../include/ecrt.h"

    48

#include "globals.h"

    49

#include "master.h"

    50

#include "slave.h"

    51

#include "device.h"

    52

#include "datagram.h"

    53

#ifdef EC_EOE

    54

#include "ethernet.h"

    55

#endif

    56

    57

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

    58

    59

void ec_master_destroy_domains(ec_master_t *);

    60

void ec_master_sync_io(ec_master_t *);

    61

static int ec_master_idle_thread(ec_master_t *);

    62

static int ec_master_operation_thread(ec_master_t *);

    63

#ifdef EC_EOE

    64

void ec_master_eoe_run(unsigned long);

    65

#endif

    66

void ec_master_check_sdo(unsigned long);

    67

int ec_master_measure_bus_time(ec_master_t *);

    68

ssize_t ec_show_master_attribute(struct kobject *, struct attribute *, char *);

    69

ssize_t ec_store_master_attribute(struct kobject *, struct attribute *,

    70

                                  const char *, size_t);

    71

    72

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

    73

    74

/** \cond */

    75

    76

EC_SYSFS_READ_ATTR(info);

    77

EC_SYSFS_READ_WRITE_ATTR(debug_level);

    78

    79

static struct attribute *ec_def_attrs[] = {

    80

    &attr_info,

    81

    &attr_debug_level,

    82

    NULL,

    83

};

    84

    85

static struct sysfs_ops ec_sysfs_ops = {

    86

    .show = &ec_show_master_attribute,

    87

    .store = ec_store_master_attribute

    88

};

    89

    90

static struct kobj_type ktype_ec_master = {

    91

    .release = NULL,

    92

    .sysfs_ops = &ec_sysfs_ops,

    93

    .default_attrs = ec_def_attrs

    94

};

    95

    96

/** \endcond */

    97

    98

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

    99

   100

/**

   101

   Master constructor.

   102

   \return 0 in case of success, else < 0

   103

*/

   104

   105

int ec_master_init(ec_master_t *master, /**< EtherCAT master */

   106

        struct kobject *module_kobj, /**< kobject of the master module */

   107

        unsigned int index, /**< master index */

   108

        const uint8_t *main_mac, /**< MAC address of main device */

   109

        const uint8_t *backup_mac /**< MAC address of backup device */

   110

        )

   111

{

   112

    unsigned int i;

   113

   114

    master->index = index;

   115

    master->reserved = 0;

   116

   117

    master->main_mac = main_mac;

   118

    master->backup_mac = backup_mac;

   119

    init_MUTEX(&master->device_sem);

   120

   121

    master->mode = EC_MASTER_MODE_ORPHANED;

   122

    master->injection_seq_fsm = 0;

   123

    master->injection_seq_rt = 0;

   124

   125

    INIT_LIST_HEAD(&master->slaves);

   126

    master->slave_count = 0;

   127

   128

    master->scan_state = EC_REQUEST_IN_PROGRESS;

   129

    master->allow_scan = 1;

   130

    init_MUTEX(&master->scan_sem);

   131

    init_waitqueue_head(&master->scan_queue);

   132

   133

    master->config_state = EC_REQUEST_COMPLETE;

   134

    master->allow_config = 1;

   135

    init_MUTEX(&master->config_sem);

   136

    init_waitqueue_head(&master->config_queue);

   137

   138

    INIT_LIST_HEAD(&master->datagram_queue);

   139

    master->datagram_index = 0;

   140

   141

    INIT_LIST_HEAD(&master->domains);

   142

    master->debug_level = 0;

   143

   144

    master->stats.timeouts = 0;

   145

    master->stats.corrupted = 0;

   146

    master->stats.unmatched = 0;

   147

    master->stats.output_jiffies = 0;

   148

   149

    for (i = 0; i < HZ; i++) {

   150

        master->idle_cycle_times[i] = 0;

   151

#ifdef EC_EOE

   152

        master->eoe_cycle_times[i] = 0;

   153

#endif

   154

    }

   155

    master->idle_cycle_time_pos = 0;

   156

#ifdef EC_EOE

   157

    master->eoe_cycle_time_pos = 0;

   158

   159

    init_timer(&master->eoe_timer);

   160

    master->eoe_timer.function = ec_master_eoe_run;

   161

    master->eoe_timer.data = (unsigned long) master;

   162

    master->eoe_running = 0;

   163

    INIT_LIST_HEAD(&master->eoe_handlers);

   164

#endif

   165

   166

    master->internal_lock = SPIN_LOCK_UNLOCKED;

   167

    master->request_cb = NULL;

   168

    master->release_cb = NULL;

   169

    master->cb_data = NULL;

   170

   171

    INIT_LIST_HEAD(&master->eeprom_requests);

   172

    init_MUTEX(&master->eeprom_sem);

   173

    init_waitqueue_head(&master->eeprom_queue);

   174

   175

    INIT_LIST_HEAD(&master->sdo_requests);

   176

    init_MUTEX(&master->sdo_sem);

   177

    init_waitqueue_head(&master->sdo_queue);

   178

   179

    // init devices

   180

    if (ec_device_init(&master->main_device, master))

   181

        goto out_return;

   182

   183

    if (ec_device_init(&master->backup_device, master))

   184

        goto out_clear_main;

   185

   186

    // init state machine datagram

   187

    ec_datagram_init(&master->fsm_datagram);

   189

    if (ec_datagram_prealloc(&master->fsm_datagram, EC_MAX_DATA_SIZE)) {

   190

        EC_ERR("Failed to allocate FSM datagram.\n");

   191

        goto out_clear_backup;

   192

    }

   193

   194

    // create state machine object

   195

    ec_fsm_master_init(&master->fsm, master, &master->fsm_datagram);

   196

   197

    // init kobject and add it to the hierarchy

   198

    memset(&master->kobj, 0x00, sizeof(struct kobject));

   199

    kobject_init(&master->kobj);

   200

    master->kobj.ktype = &ktype_ec_master;

   201

    master->kobj.parent = module_kobj;

   202

   203

    if (kobject_set_name(&master->kobj, "master%i", index)) {

   204

        EC_ERR("Failed to set master kobject name.\n");

   205

        kobject_put(&master->kobj);

   206

        goto out_clear_fsm;

   207

    }

   208

   209

    if (kobject_add(&master->kobj)) {

   210

        EC_ERR("Failed to add master kobject.\n");

   211

        kobject_put(&master->kobj);

   212

        goto out_clear_fsm;

   213

    }

   214

   215

    return 0;

   216

   217

out_clear_fsm:

   218

    ec_fsm_master_clear(&master->fsm);

   219

out_clear_backup:

   220

    ec_device_clear(&master->backup_device);

   221

out_clear_main:

   222

    ec_device_clear(&master->main_device);

   223

out_return:

   224

    return -1;

   225

}

   226

   227

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

   228

   229

/**

   230

   Clear and free master.

   231

   This method is called by the kobject,

   232

   once there are no more references to it.

   233

*/

   234

   235

void ec_master_clear(

   236

        ec_master_t *master /**< EtherCAT master */

   237

        )

   238

{

   239

#ifdef EC_EOE

   240

    ec_master_clear_eoe_handlers(master);

   241

#endif

   242

    ec_master_destroy_slaves(master);

   243

    ec_master_destroy_domains(master);

   244

    ec_fsm_master_clear(&master->fsm);

   245

    ec_datagram_clear(&master->fsm_datagram);

   246

    ec_device_clear(&master->backup_device);

   247

    ec_device_clear(&master->main_device);

   248

   249

    // destroy self

   250

    kobject_del(&master->kobj);

   251

    kobject_put(&master->kobj);

   252

}

   253

   254

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

   255

   256

#ifdef EC_EOE

   257

/**

   258

 * Clear and free all EoE handlers.

   259

 */

   260

   261

void ec_master_clear_eoe_handlers(

   262

        ec_master_t *master /**< EtherCAT master */

   263

        )

   264

{

   265

    ec_eoe_t *eoe, *next;

   266

   267

    list_for_each_entry_safe(eoe, next, &master->eoe_handlers, list) {

   268

        list_del(&eoe->list);

   269

        ec_eoe_clear(eoe);

   270

        kfree(eoe);

   271

    }

   272

}

   273

#endif

   274

   275

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

   276

   277

/**

   278

   Destroy all slaves.

   279

*/

   280

   281

void ec_master_destroy_slaves(ec_master_t *master)

   282

{

   283

    ec_slave_t *slave, *next_slave;

   284

   285

    list_for_each_entry_safe(slave, next_slave, &master->slaves, list) {

   286

        list_del(&slave->list);

   287

        ec_slave_destroy(slave);

   288

    }

   289

   290

    master->slave_count = 0;

   291

}

   292

   293

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

   294

   295

/**

   296

   Destroy all domains.

   297

*/

   298

   299

void ec_master_destroy_domains(ec_master_t *master)

   300

{

   301

    ec_domain_t *domain, *next_d;

   302

   303

    list_for_each_entry_safe(domain, next_d, &master->domains, list) {

   304

        list_del(&domain->list);

   305

        ec_domain_destroy(domain);

   306

    }

   307

}

   308

   309

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

   310

   311

/**

   312

   Internal locking callback.

   313

*/

   314

   315

int ec_master_request_cb(void *master /**< callback data */)

   316

{

   317

    spin_lock(&((ec_master_t *) master)->internal_lock);

   318

    return 0;

   319

}

   320

   321

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

   322

   323

/**

   324

   Internal unlocking callback.

   325

*/

   326

   327

void ec_master_release_cb(void *master /**< callback data */)

   328

{

   329

    spin_unlock(&((ec_master_t *) master)->internal_lock);

   330

}

   331

   332

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

   333

   334

/**

   335

 * Starts the master thread.

   336

 */

   337

   338

int ec_master_thread_start(

   339

        ec_master_t *master, /**< EtherCAT master */

   340

        int (*thread_func)(ec_master_t *) /**< thread function to start */

   341

        )

   342

{

   343

    init_completion(&master->thread_exit);

   344

   345

    EC_INFO("Starting master thread.\n");

   346

    if (!(master->thread_id = kernel_thread((int (*)(void *)) thread_func,

   347

                    master, CLONE_KERNEL)))

   348

        return -1;

   349

   350

    return 0;

   351

}

   352

   353

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

   354

   355

/**

   356

 * Stops the master thread.

   357

 */

   358

   359

void ec_master_thread_stop(ec_master_t *master /**< EtherCAT master */)

   360

{

   361

    if (!master->thread_id) {

   362

        EC_WARN("ec_master_thread_stop: Already finished!\n");

   363

        return;

   364

    }

   365

   366

    kill_proc(master->thread_id, SIGTERM, 1);

   367

    wait_for_completion(&master->thread_exit);

   368

    EC_INFO("Master thread exited.\n");

   369

   370

    if (master->fsm_datagram.state != EC_DATAGRAM_SENT) return;

   371

   372

    // wait for FSM datagram

   373

    while (get_cycles() - master->fsm_datagram.cycles_sent

   374

            < (cycles_t) EC_IO_TIMEOUT /* us */ * (cpu_khz / 1000))

   375

        schedule();

   376

}

   377

   378

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

   379

   380

/**

   381

 * Transition function from ORPHANED to IDLE mode.

   382

 */

   383

   384

int ec_master_enter_idle_mode(ec_master_t *master /**< EtherCAT master */)

   385

{

   386

    master->request_cb = ec_master_request_cb;

   387

    master->release_cb = ec_master_release_cb;

   388

    master->cb_data = master;

   389

   390

    master->mode = EC_MASTER_MODE_IDLE;

   391

    if (ec_master_thread_start(master, ec_master_idle_thread)) {

   392

        master->mode = EC_MASTER_MODE_ORPHANED;

   393

        return -1;

   394

    }

   395

   396

    return 0;

   397

}

   398

   399

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

   400

   401

/**

   402

 * Transition function from IDLE to ORPHANED mode.

   403

 */

   404

   405

void ec_master_leave_idle_mode(ec_master_t *master /**< EtherCAT master */)

   406

{

   407

    master->mode = EC_MASTER_MODE_ORPHANED;

   408

   409

#ifdef EC_EOE

   410

    ec_master_eoe_stop(master);

   411

#endif

   412

    ec_master_thread_stop(master);

   413

    ec_master_destroy_slaves(master);

   414

}

   415

   416

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

   417

   418

/**

   419

 * Transition function from IDLE to OPERATION mode.

   420

 */

   421

   422

int ec_master_enter_operation_mode(ec_master_t *master /**< EtherCAT master */)

   423

{

   424

    ec_slave_t *slave;

   425

#ifdef EC_EOE

   426

    ec_eoe_t *eoe;

   427

#endif

   428

   429

    down(&master->config_sem);

   430

    master->allow_config = 0; // temporarily disable slave configuration

   431

    up(&master->config_sem);

   432

   433

    // wait for slave configuration to complete

   434

    if (wait_event_interruptible(master->config_queue,

   435

                master->config_state != EC_REQUEST_IN_PROGRESS)) {

   436

        EC_INFO("Finishing slave configuration interrupted by signal.\n");

   437

        goto out_allow;

   438

    }

   439

   440

    if (master->debug_level)

   441

        EC_DBG("Waiting for pending slave configuration returned.\n");

   442

   443

    down(&master->scan_sem);

   444

    master->allow_scan = 0; // 'lock' the slave list

   445

    up(&master->scan_sem);

   446

   447

    // wait for slave scan to complete

   448

    if (wait_event_interruptible(master->scan_queue,

   449

                master->scan_state != EC_REQUEST_IN_PROGRESS)) {

   450

        EC_INFO("Waiting for slave scan interrupted by signal.\n");

   451

        goto out_allow;

   452

    }

   453

   454

    if (master->debug_level)

   455

        EC_DBG("Waiting for pending slave scan returned.\n");

   456

   457

    // set states for all slaves

   458

    list_for_each_entry(slave, &master->slaves, list) {

   459

        ec_slave_request_state(slave, EC_SLAVE_STATE_PREOP);

   460

    }

   461

#ifdef EC_EOE

   462

    // ... but set EoE slaves to OP

   463

    list_for_each_entry(eoe, &master->eoe_handlers, list) {

   464

        if (ec_eoe_is_open(eoe))

   465

            ec_slave_request_state(eoe->slave, EC_SLAVE_STATE_OP);

   466

    }

   467

#endif

   468

   469

    if (master->debug_level)

   470

        EC_DBG("Switching to operation mode.\n");

   471

   472

    master->mode = EC_MASTER_MODE_OPERATION;

   473

    master->pdo_slaves_offline = 0; // assume all PDO slaves online

   474

    master->frames_timed_out = 0;

   475

    master->ext_request_cb = NULL;

   476

    master->ext_release_cb = NULL;

   477

    master->ext_cb_data = NULL;

   478

    return 0;

   479

   480

out_allow:

   481

    master->allow_scan = 1;

   482

    master->allow_config = 1;

   483

    return -1;

   484

}

   485