1

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

     2

 *

     3

 *  $Id$

     4

 *

     5

 *  Copyright (C) 2006-2008  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 and/or

    10

 *  modify it under the terms of the GNU General Public License version 2, as

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 *  published by the Free Software Foundation.

    12

 *

    13

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

    14

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

    15

 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General

    16

 *  Public License for more details.

    17

 *

    18

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

    19

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

    20

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

    21

 *

    22

 *  ---

    23

 *

    24

 *  The license mentioned above concerns the source code only. Using the

    25

 *  EtherCAT technology and brand is only permitted in compliance with the

    26

 *  industrial property and similar rights of Beckhoff Automation GmbH.

    27

 *

    28

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

    29

    30

/**

    31

   \file

    32

   EtherCAT master methods.

    33

*/

    34

    35

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

    36

    37

#include <linux/module.h>

    38

#include <linux/kernel.h>

    39

#include <linux/string.h>

    40

#include <linux/slab.h>

    41

#include <linux/delay.h>

    42

#include <linux/device.h>

    43

#include <linux/version.h>

    44

    45

#include "globals.h"

    46

#include "slave.h"

    47

#include "slave_config.h"

    48

#include "device.h"

    49

#include "datagram.h"

    50

#ifdef EC_EOE

    51

#include "ethernet.h"

    52

#endif

    53

#include "master.h"

    54

    55

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

    56

    57

#ifdef EC_HAVE_CYCLES

    58

    59

/** Frame timeout in cycles.

    60

 */

    61

static cycles_t timeout_cycles;

    62

    63

#else

    64

    65

/** Frame timeout in jiffies.

    66

 */

    67

static unsigned long timeout_jiffies;

    68

    69

#endif

    70

    71

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

    72

    73

void ec_master_clear_slave_configs(ec_master_t *);

    74

void ec_master_clear_domains(ec_master_t *);

    75

static int ec_master_idle_thread(void *);

    76

static int ec_master_operation_thread(void *);

    77

#ifdef EC_EOE

    78

void ec_master_eoe_run(unsigned long);

    79

#endif

    80

void ec_master_find_dc_ref_clock(ec_master_t *);

    81

    82

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

    83

    84

/** Static variables initializer.

    85

*/

    86

void ec_master_init_static(void)

    87

{

    88

#ifdef EC_HAVE_CYCLES

    89

    timeout_cycles = (cycles_t) EC_IO_TIMEOUT /* us */ * (cpu_khz / 1000);

    90

#else

    91

    // one jiffy may always elapse between time measurement

    92

    timeout_jiffies = max(EC_IO_TIMEOUT * HZ / 1000000, 1);

    93

#endif

    94

}

    95

    96

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

    97

    98

/**

    99

   Master constructor.

   100

   \return 0 in case of success, else < 0

   101

*/

   102

   103

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

   104

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

   105

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

   106

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

   107

        dev_t device_number, /**< Character device number. */

   108

        struct class *class, /**< Device class. */

   109

        unsigned int debug_level /**< Debug level (module parameter). */

   110

        )

   111

{

   112

    int ret;

   113

   114

    master->index = index;

   115

    master->reserved = 0;

   116

   117

    init_MUTEX(&master->master_sem);

   118

   119

    master->main_mac = main_mac;

   120

    master->backup_mac = backup_mac;

   121

    init_MUTEX(&master->device_sem);

   122

   123

    master->phase = EC_ORPHANED;

   124

    master->injection_seq_fsm = 0;

   125

    master->injection_seq_rt = 0;

   126

   127

    master->slaves = NULL;

   128

    master->slave_count = 0;

   129

   130

    INIT_LIST_HEAD(&master->configs);

   131

   132

	master->app_time = 0ULL;

   133

	master->app_start_time = 0ULL;

   134

	master->has_start_time = 0;

   135

   136

    master->scan_busy = 0;

   137

    master->allow_scan = 1;

   138

    init_MUTEX(&master->scan_sem);

   139

    init_waitqueue_head(&master->scan_queue);

   140

   141

    master->config_busy = 0;

   142

    master->allow_config = 1;

   143

    init_MUTEX(&master->config_sem);

   144

    init_waitqueue_head(&master->config_queue);

   145

   146

    INIT_LIST_HEAD(&master->datagram_queue);

   147

    master->datagram_index = 0;

   148

   149

    INIT_LIST_HEAD(&master->domains);

   150

   151

    master->debug_level = debug_level;

   152

    master->stats.timeouts = 0;

   153

    master->stats.corrupted = 0;

   154

    master->stats.unmatched = 0;

   155

    master->stats.output_jiffies = 0;

   156

    master->frames_timed_out = 0;

   157

   158

    master->thread = NULL;

   159

   160

#ifdef EC_EOE

   161

    init_timer(&master->eoe_timer);

   162

    master->eoe_timer.function = ec_master_eoe_run;

   163

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

   164

    master->eoe_running = 0;

   165

    INIT_LIST_HEAD(&master->eoe_handlers);

   166

#endif

   167

   168

    master->internal_lock = SPIN_LOCK_UNLOCKED;

   169

    master->request_cb = NULL;

   170

    master->release_cb = NULL;

   171

    master->cb_data = NULL;

   172

   173

    INIT_LIST_HEAD(&master->sii_requests);

   174

    init_waitqueue_head(&master->sii_queue);

   175

   176

    INIT_LIST_HEAD(&master->slave_sdo_requests);

   177

    init_waitqueue_head(&master->sdo_queue);

   178

   179

    INIT_LIST_HEAD(&master->reg_requests);

   180

    init_waitqueue_head(&master->reg_queue);

   181

   182

    INIT_LIST_HEAD(&master->foe_requests);

   183

    init_waitqueue_head(&master->foe_queue);

   184

   185

    // init devices

   186

    ret = ec_device_init(&master->main_device, master);

   187

    if (ret < 0)

   188

        goto out_return;

   189

   190

    ret = ec_device_init(&master->backup_device, master);

   191

    if (ret < 0)

   192

        goto out_clear_main;

   193

   194

    // init state machine datagram

   195

    ec_datagram_init(&master->fsm_datagram);

   196

    snprintf(master->fsm_datagram.name, EC_DATAGRAM_NAME_SIZE, "master-fsm");

   197

    ret = ec_datagram_prealloc(&master->fsm_datagram, EC_MAX_DATA_SIZE);

   198

    if (ret < 0) {

   199

        ec_datagram_clear(&master->fsm_datagram);

   200

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

   201

        goto out_clear_backup;

   202

    }

   203

   204

    // create state machine object

   205

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

   206

   207

    // init reference sync datagram

   208

    ec_datagram_init(&master->ref_sync_datagram);

   209

    snprintf(master->ref_sync_datagram.name, EC_DATAGRAM_NAME_SIZE, "refsync");

   210

    ret = ec_datagram_apwr(&master->ref_sync_datagram, 0, 0x0910, 8);

   211

    if (ret < 0) {

   212

        ec_datagram_clear(&master->ref_sync_datagram);

   213

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

   214

        goto out_clear_fsm;

   215

    }

   216

   217

    // init sync datagram

   218

    ec_datagram_init(&master->sync_datagram);

   219

    snprintf(master->sync_datagram.name, EC_DATAGRAM_NAME_SIZE, "sync");

   220

    ret = ec_datagram_prealloc(&master->sync_datagram, 4);

   221

    if (ret < 0) {

   222

        ec_datagram_clear(&master->sync_datagram);

   223

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

   224

        goto out_clear_ref_sync;

   225

    }

   226

	ec_master_find_dc_ref_clock(master);

   227

   228

    // init character device

   229

    ret = ec_cdev_init(&master->cdev, master, device_number);

   230

    if (ret)

   231

        goto out_clear_sync;

   232

   233

#if LINUX_VERSION_CODE >= KERNEL_VERSION(2, 6, 27)

   234

    master->class_device = device_create(class, NULL,

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            MKDEV(MAJOR(device_number), master->index), NULL,

   236

            "EtherCAT%u", master->index);

   237

#elif LINUX_VERSION_CODE >= KERNEL_VERSION(2, 6, 26)

   238

    master->class_device = device_create(class, NULL,

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            MKDEV(MAJOR(device_number), master->index),

   240

            "EtherCAT%u", master->index);

   241

#elif LINUX_VERSION_CODE >= KERNEL_VERSION(2, 6, 15)

   242

    master->class_device = class_device_create(class, NULL,

   243

            MKDEV(MAJOR(device_number), master->index), NULL,

   244

            "EtherCAT%u", master->index);

   245

#else

   246

    master->class_device = class_device_create(class,

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            MKDEV(MAJOR(device_number), master->index), NULL,

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            "EtherCAT%u", master->index);

   249

#endif

   250

    if (IS_ERR(master->class_device)) {

   251

        EC_ERR("Failed to create class device!\n");

   252

        ret = PTR_ERR(master->class_device);

   253

        goto out_clear_cdev;

   254

    }

   255

   256

    return 0;

   257

   258

out_clear_cdev:

   259

    ec_cdev_clear(&master->cdev);

   260

out_clear_sync:

   261

    ec_datagram_clear(&master->sync_datagram);

   262

out_clear_ref_sync:

   263

    ec_datagram_clear(&master->ref_sync_datagram);

   264

out_clear_fsm:

   265

    ec_fsm_master_clear(&master->fsm);

   266

    ec_datagram_clear(&master->fsm_datagram);

   267

out_clear_backup:

   268

    ec_device_clear(&master->backup_device);

   269

out_clear_main:

   270

    ec_device_clear(&master->main_device);

   271

out_return:

   272

    return ret;

   273

}

   274

   275

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

   276

   277

/** Destructor.

   278

*/

   279

void ec_master_clear(

   280

        ec_master_t *master /**< EtherCAT master */

   281

        )

   282

{

   283

#if LINUX_VERSION_CODE >= KERNEL_VERSION(2, 6, 26)

   284

    device_unregister(master->class_device);

   285

#else

   286

    class_device_unregister(master->class_device);

   287

#endif

   288

   289

    ec_cdev_clear(&master->cdev);

   290

   291

#ifdef EC_EOE

   292

    ec_master_clear_eoe_handlers(master);

   293

#endif

   294

    ec_master_clear_domains(master);

   295

    ec_master_clear_slave_configs(master);

   296

    ec_master_clear_slaves(master);

   297

   298

    ec_datagram_clear(&master->sync_datagram);

   299

    ec_datagram_clear(&master->ref_sync_datagram);

   300

    ec_fsm_master_clear(&master->fsm);

   301

    ec_datagram_clear(&master->fsm_datagram);

   302

    ec_device_clear(&master->backup_device);

   303

    ec_device_clear(&master->main_device);

   304

}

   305

   306

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

   307

   308

#ifdef EC_EOE

   309

/** Clear and free all EoE handlers.

   310

 */

   311

void ec_master_clear_eoe_handlers(

   312

        ec_master_t *master /**< EtherCAT master */

   313

        )

   314

{

   315

    ec_eoe_t *eoe, *next;

   316

   317

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

   318

        list_del(&eoe->list);

   319

        ec_eoe_clear(eoe);

   320

        kfree(eoe);

   321

    }

   322

}

   323

#endif

   324

   325

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

   326

   327

/** Clear all slave configurations.

   328

 */

   329

void ec_master_clear_slave_configs(ec_master_t *master)

   330

{

   331

    ec_slave_config_t *sc, *next;

   332

   333

    list_for_each_entry_safe(sc, next, &master->configs, list) {

   334

        list_del(&sc->list);

   335

        ec_slave_config_clear(sc);

   336

        kfree(sc);

   337

    }

   338

}

   339

   340

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

   341

   342

/** Clear all slaves.

   343

 */

   344

void ec_master_clear_slaves(ec_master_t *master)

   345

{

   346

    ec_slave_t *slave;

   347

   348

    master->dc_ref_clock = NULL;

   349

   350

    for (slave = master->slaves;

   351

            slave < master->slaves + master->slave_count;

   352

            slave++) {

   353

        ec_slave_clear(slave);

   354

    }

   355

   356

    if (master->slaves) {

   357

        kfree(master->slaves);

   358

        master->slaves = NULL;

   359

    }

   360

   361

    master->slave_count = 0;

   362

}

   363

   364

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

   365

   366

/** Clear all domains.

   367

 */

   368

void ec_master_clear_domains(ec_master_t *master)

   369

{

   370

    ec_domain_t *domain, *next;

   371

   372

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

   373

        list_del(&domain->list);

   374

        ec_domain_clear(domain);

   375

        kfree(domain);

   376

    }

   377

}

   378

   379

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

   380

   381

/** Internal locking callback.

   382

 */

   383

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

   384

{

   385

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

   386

    return 0;

   387

}

   388

   389

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

   390

   391

/** Internal unlocking callback.

   392

 */

   393

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

   394

{

   395

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

   396

}

   397

   398

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

   399

   400

/** Starts the master thread.

   401

 *

   402

 * \retval  0 Success.

   403

 * \retval <0 Error code.

   404

 */

   405

int ec_master_thread_start(

   406

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

   407

        int (*thread_func)(void *), /**< thread function to start */

   408

        const char *name /**< Thread name. */

   409

        )

   410

{

   411

    EC_INFO("Starting %s thread.\n", name);

   412

    master->thread = kthread_run(thread_func, master, name);

   413

    if (IS_ERR(master->thread)) {

   414

        int err = (int) PTR_ERR(master->thread);

   415

        EC_ERR("Failed to start master thread (error %i)!\n", err);

   416

        master->thread = NULL;

   417

        return err;

   418

    }

   419

   420

    return 0;

   421

}

   422

   423

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

   424

   425

/** Stops the master thread.

   426

 */

   427

void ec_master_thread_stop(

   428

        ec_master_t *master /**< EtherCAT master */

   429

        )

   430

{

   431

    unsigned long sleep_jiffies;

   432

   433

    if (!master->thread) {

   434

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

   435

        return;

   436

    }

   437

   438

    if (master->debug_level)

   439

        EC_DBG("Stopping master thread.\n");

   440

   441

    kthread_stop(master->thread);

   442

    master->thread = NULL;

   443

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

   444

   445

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

   446

        return;

   447

   448

    // wait for FSM datagram

   449

    sleep_jiffies = max(HZ / 100, 1); // 10 ms, at least 1 jiffy

   450

    schedule_timeout(sleep_jiffies);

   451

}

   452

   453

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

   454

   455

/** Transition function from ORPHANED to IDLE phase.

   456

 */

   457

int ec_master_enter_idle_phase(

   458

        ec_master_t *master /**< EtherCAT master */

   459

        )

   460

{

   461

    int ret;

   462

   463

    if (master->debug_level)

   464

        EC_DBG("ORPHANED -> IDLE.\n");

   465

   466

    master->request_cb = ec_master_request_cb;

   467

    master->release_cb = ec_master_release_cb;

   468

    master->cb_data = master;

   469

   470

    master->phase = EC_IDLE;

   471

    ret = ec_master_thread_start(master, ec_master_idle_thread,

   472

            "EtherCAT-IDLE");

   473

    if (ret)

   474

        master->phase = EC_ORPHANED;

   475

   476

    return ret;

   477

}

   478

   479

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

   480

   481

/** Transition function from IDLE to ORPHANED phase.

   482

 */