1

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

     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

    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

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 *

    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"

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#include "types.h"

    52

#include "device.h"

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#include "command.h"

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#include "ethernet.h"

    55

    56

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

    57

    58

void ec_master_freerun(void *);

    59

void ec_master_run_eoe(unsigned long);

    60

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

    61

void ec_master_process_watch_command(ec_master_t *);

    62

    63

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

    64

    65

/** \cond */

    66

    67

EC_SYSFS_READ_ATTR(slave_count);

    68

EC_SYSFS_READ_ATTR(mode);

    69

    70

static struct attribute *ec_def_attrs[] = {

    71

    &attr_slave_count,

    72

    &attr_mode,

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    NULL,

    74

};

    75

    76

static struct sysfs_ops ec_sysfs_ops = {

    77

    .show = &ec_show_master_attribute,

    78

    .store = NULL

    79

};

    80

    81

static struct kobj_type ktype_ec_master = {

    82

    .release = ec_master_clear,

    83

    .sysfs_ops = &ec_sysfs_ops,

    84

    .default_attrs = ec_def_attrs

    85

};

    86

    87

/** \endcond */

    88

    89

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

    90

    91

/**

    92

   Master constructor.

    93

   \return 0 in case of success, else < 0

    94

*/

    95

    96

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

    97

                   unsigned int index /**< master index */

    98

                   )

    99

{

   100

    EC_INFO("Initializing master %i.\n", index);

   101

   102

    if (!(master->workqueue = create_singlethread_workqueue("EoE"))) {

   103

        EC_ERR("Failed to create master workqueue.\n");

   104

        goto out_return;

   105

    }

   106

   107

    if (ec_fsm_init(&master->fsm, master)) goto out_free_wq;

   108

   109

    master->index = index;

   110

    master->device = NULL;

   111

    master->reserved = 0;

   112

    INIT_LIST_HEAD(&master->slaves);

   113

    INIT_LIST_HEAD(&master->command_queue);

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    INIT_LIST_HEAD(&master->domains);

   115

    INIT_LIST_HEAD(&master->eoe_slaves);

   116

    ec_command_init(&master->simple_command);

   117

    INIT_WORK(&master->freerun_work, ec_master_freerun, (void *) master);

   118

    init_timer(&master->eoe_timer);

   119

    master->eoe_timer.function = ec_master_run_eoe;

   120

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

   121

   122

    // init kobject and add it to the hierarchy

   123

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

   124

    kobject_init(&master->kobj);

   125

    master->kobj.ktype = &ktype_ec_master;

   126

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

   127

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

   128

        kobject_put(&master->kobj);

   129

        return -1;

   130

    }

   131

   132

    ec_master_reset(master);

   133

    return 0;

   134

   135

 out_free_wq:

   136

    destroy_workqueue(master->workqueue);

   137

 out_return:

   138

    return -1;

   139

}

   140

   141

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

   142

   143

/**

   144

   Master destructor.

   145

   Removes all pending commands, clears the slave list, clears all domains

   146

   and frees the device.

   147

*/

   148

   149

void ec_master_clear(struct kobject *kobj /**< kobject of the master */)

   150

{

   151

    ec_master_t *master = container_of(kobj, ec_master_t, kobj);

   152

   153

    EC_INFO("Clearing master %i...\n", master->index);

   154

   155

    ec_master_reset(master);

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    ec_fsm_clear(&master->fsm);

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    ec_command_clear(&master->simple_command);

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    destroy_workqueue(master->workqueue);

   159

   160

    if (master->device) {

   161

        ec_device_clear(master->device);

   162

        kfree(master->device);

   163

    }

   164

   165

    EC_INFO("Master %i cleared.\n", master->index);

   166

}

   167

   168

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

   169

   170

/**

   171

   Resets the master.

   172

   Note: This function has to be called, everytime ec_master_release() is

   173

   called, to free the slave list, domains etc.

   174

*/

   175

   176

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

   177

{

   178

    ec_command_t *command, *next_c;

   179

    ec_domain_t *domain, *next_d;

   180

    ec_eoe_t *eoe, *next_eoe;

   181

   182

    // stop EoE processing

   183

    del_timer_sync(&master->eoe_timer);

   184

   185

    // stop free-run mode

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    ec_master_freerun_stop(master);

   187

   188

    ec_master_clear_slaves(master);

   189

   190

    // empty command queue

   191

    list_for_each_entry_safe(command, next_c, &master->command_queue, queue) {

   192

        list_del_init(&command->queue);

   193

        command->state = EC_CMD_ERROR;

   194

    }

   195

   196

    // clear domains

   197

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

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        list_del(&domain->list);

   199

        kobject_del(&domain->kobj);

   200

        kobject_put(&domain->kobj);

   201

    }

   202

   203

    // clear EoE objects

   204

    list_for_each_entry_safe(eoe, next_eoe, &master->eoe_slaves, list) {

   205

        list_del(&eoe->list);

   206

        ec_eoe_clear(eoe);

   207

        kfree(eoe);

   208

    }

   209

   210

    master->command_index = 0;

   211

    master->debug_level = 0;

   212

    master->timeout = 500; // 500us

   213

   214

    master->stats.timeouts = 0;

   215

    master->stats.delayed = 0;

   216

    master->stats.corrupted = 0;

   217

    master->stats.unmatched = 0;

   218

    master->stats.t_last = 0;

   219

   220

    master->mode = EC_MASTER_MODE_IDLE;

   221

   222

    master->request_cb = NULL;

   223

    master->release_cb = NULL;

   224

    master->cb_data = NULL;

   225

   226

    ec_fsm_reset(&master->fsm);

   227

}

   228

   229

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

   230

   231

/**

   232

   Clears all slaves.

   233

*/

   234

   235

void ec_master_clear_slaves(ec_master_t *master)

   236

{

   237

    ec_slave_t *slave, *next_slave;

   238

   239

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

   240

        list_del(&slave->list);

   241

        kobject_del(&slave->kobj);

   242

        kobject_put(&slave->kobj);

   243

    }

   244

    master->slave_count = 0;

   245

}

   246

   247

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

   248

   249

/**

   250

   Places a command in the command queue.

   251

*/

   252

   253

void ec_master_queue_command(ec_master_t *master, /**< EtherCAT master */

   254

                             ec_command_t *command /**< command */

   255

                             )

   256

{

   257

    ec_command_t *queued_command;

   258

   259

    // check, if the command is already queued

   260

    list_for_each_entry(queued_command, &master->command_queue, queue) {

   261

        if (queued_command == command) {

   262

            command->state = EC_CMD_QUEUED;

   263

            if (unlikely(master->debug_level))

   264

                EC_WARN("command already queued.\n");

   265

            return;

   266

        }

   267

    }

   268

   269

    list_add_tail(&command->queue, &master->command_queue);

   270

    command->state = EC_CMD_QUEUED;

   271

}

   272

   273

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

   274

   275

/**

   276

   Sends the commands in the queue.

   277

   \return 0 in case of success, else < 0

   278

*/

   279

   280

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

   281

{

   282

    ec_command_t *command;

   283

    size_t command_size;

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    uint8_t *frame_data, *cur_data;

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    void *follows_word;

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    cycles_t t_start, t_end;

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    unsigned int frame_count, more_commands_waiting;

   288

   289

    frame_count = 0;

   290

    t_start = get_cycles();

   291

   292

    if (unlikely(master->debug_level > 0))

   293

        EC_DBG("ec_master_send_commands\n");

   294

   295

    do {

   296

        // fetch pointer to transmit socket buffer

   297

        frame_data = ec_device_tx_data(master->device);

   298

        cur_data = frame_data + EC_FRAME_HEADER_SIZE;

   299

        follows_word = NULL;

   300

        more_commands_waiting = 0;

   301

   302

        // fill current frame with commands

   303

        list_for_each_entry(command, &master->command_queue, queue) {

   304

            if (command->state != EC_CMD_QUEUED) continue;

   305

   306

            // does the current command fit in the frame?

   307

            command_size = EC_COMMAND_HEADER_SIZE + command->data_size

   308

                + EC_COMMAND_FOOTER_SIZE;

   309

            if (cur_data - frame_data + command_size > ETH_DATA_LEN) {

   310

                more_commands_waiting = 1;

   311

                break;

   312

            }

   313

   314

            command->state = EC_CMD_SENT;

   315

            command->t_sent = t_start;

   316

            command->index = master->command_index++;

   317

   318

            if (unlikely(master->debug_level > 0))

   319

                EC_DBG("adding command 0x%02X\n", command->index);

   320

   321

            // set "command following" flag in previous frame

   322

            if (follows_word)

   323

                EC_WRITE_U16(follows_word, EC_READ_U16(follows_word) | 0x8000);

   324

   325

            // EtherCAT command header

   326

            EC_WRITE_U8 (cur_data,     command->type);

   327

            EC_WRITE_U8 (cur_data + 1, command->index);

   328

            EC_WRITE_U32(cur_data + 2, command->address.logical);

   329

            EC_WRITE_U16(cur_data + 6, command->data_size & 0x7FF);

   330

            EC_WRITE_U16(cur_data + 8, 0x0000);

   331

            follows_word = cur_data + 6;

   332

            cur_data += EC_COMMAND_HEADER_SIZE;

   333

   334

            // EtherCAT command data

   335

            memcpy(cur_data, command->data, command->data_size);

   336

            cur_data += command->data_size;

   337

   338

            // EtherCAT command footer

   339

            EC_WRITE_U16(cur_data, 0x0000); // reset working counter

   340

            cur_data += EC_COMMAND_FOOTER_SIZE;

   341

        }

   342

   343

        if (cur_data - frame_data == EC_FRAME_HEADER_SIZE) {

   344

            if (unlikely(master->debug_level > 0))

   345

                EC_DBG("nothing to send.\n");

   346

            break;

   347

        }

   348

   349

        // EtherCAT frame header

   350

        EC_WRITE_U16(frame_data, ((cur_data - frame_data

   351

                                   - EC_FRAME_HEADER_SIZE) & 0x7FF) | 0x1000);

   352

   353

        // pad frame

   354

        while (cur_data - frame_data < ETH_ZLEN - ETH_HLEN)

   355

            EC_WRITE_U8(cur_data++, 0x00);

   356

   357

        if (unlikely(master->debug_level > 0))

   358

            EC_DBG("frame size: %i\n", cur_data - frame_data);

   359

   360

        // send frame

   361

        ec_device_send(master->device, cur_data - frame_data);

   362

        frame_count++;

   363

    }

   364

    while (more_commands_waiting);

   365

   366

    if (unlikely(master->debug_level > 0)) {

   367

        t_end = get_cycles();

   368

        EC_DBG("ec_master_send_commands sent %i frames in %ius.\n",

   369

               frame_count, (u32) (t_end - t_start) * 1000 / cpu_khz);

   370

    }

   371

}

   372

   373

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

   374

   375

/**

   376

   Processes a received frame.

   377

   This function is called by the network driver for every received frame.

   378

   \return 0 in case of success, else < 0

   379

*/

   380

   381

void ec_master_receive(ec_master_t *master, /**< EtherCAT master */

   382

                       const uint8_t *frame_data, /**< received data */

   383

                       size_t size /**< size of the received data */

   384

                       )

   385

{

   386

    size_t frame_size, data_size;

   387

    uint8_t command_type, command_index;

   388

    unsigned int cmd_follows, matched;

   389

    const uint8_t *cur_data;

   390

    ec_command_t *command;

   391

   392

    if (unlikely(size < EC_FRAME_HEADER_SIZE)) {

   393

        master->stats.corrupted++;

   394

        ec_master_output_stats(master);

   395

        return;

   396

    }

   397

   398

    cur_data = frame_data;

   399

   400

    // check length of entire frame

   401

    frame_size = EC_READ_U16(cur_data) & 0x07FF;

   402

    cur_data += EC_FRAME_HEADER_SIZE;

   403

   404

    if (unlikely(frame_size > size)) {

   405

        master->stats.corrupted++;

   406

        ec_master_output_stats(master);

   407

        return;

   408

    }

   409

   410

    cmd_follows = 1;

   411

    while (cmd_follows) {

   412

        // process command header

   413

        command_type  = EC_READ_U8 (cur_data);

   414

        command_index = EC_READ_U8 (cur_data + 1);

   415

        data_size     = EC_READ_U16(cur_data + 6) & 0x07FF;

   416

        cmd_follows   = EC_READ_U16(cur_data + 6) & 0x8000;

   417

        cur_data += EC_COMMAND_HEADER_SIZE;

   418

   419

        if (unlikely(cur_data - frame_data

   420

                     + data_size + EC_COMMAND_FOOTER_SIZE > size)) {

   421

            master->stats.corrupted++;

   422

            ec_master_output_stats(master);

   423

            return;

   424

        }

   425

   426

        // search for matching command in the queue

   427

        matched = 0;

   428

        list_for_each_entry(command, &master->command_queue, queue) {

   429

            if (command->state == EC_CMD_SENT

   430

                && command->type == command_type

   431

                && command->index == command_index

   432

                && command->data_size == data_size) {

   433

                matched = 1;

   434

                break;

   435

            }

   436

        }

   437

   438

        // no matching command was found

   439

        if (!matched) {

   440

            master->stats.unmatched++;

   441

            ec_master_output_stats(master);

   442

            cur_data += data_size + EC_COMMAND_FOOTER_SIZE;

   443

            continue;

   444

        }

   445

   446

        // copy received data in the command memory

   447

        memcpy(command->data, cur_data, data_size);

   448

        cur_data += data_size;

   449

   450

        // set the command's working counter

   451

        command->working_counter = EC_READ_U16(cur_data);

   452

        cur_data += EC_COMMAND_FOOTER_SIZE;

   453

   454

        // dequeue the received command

   455

        command->state = EC_CMD_RECEIVED;

   456

        list_del_init(&command->queue);

   457

    }

   458

}

   459

   460

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

   461

   462

/**

   463

   Sends a single command and waits for its reception.

   464

   If the slave doesn't respond, the command is sent again.

   465

   \return 0 in case of success, else < 0

   466

*/

   467

   468

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

   469

                        ec_command_t *command /**< command */

   470

                        )

   471

{

   472

    unsigned int response_tries_left;

   473

   474

    response_tries_left = 10;

   475

   476

    while (1)

   477

    {

   478

        ec_master_queue_command(master, command);

   479

        ecrt_master_sync_io(master);

   480

   481

        if (command->state == EC_CMD_RECEIVED) {

   482

            if (likely(command->working_counter))

   483

                return 0;

   484

        }

   485

        else if (command->state == EC_CMD_TIMEOUT) {

   486

            EC_ERR("Simple-IO TIMEOUT!\n");

   487