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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

#include <linux/device.h>

    47

#include <linux/version.h>

    48

    49

#include "globals.h"

    50

#include "slave.h"

    51

#include "slave_config.h"

    52

#include "device.h"

    53

#include "datagram.h"

    54

#ifdef EC_EOE

    55

#include "ethernet.h"

    56

#endif

    57

#include "master.h"

    58

    59

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

    60

    61

void ec_master_clear_slave_configs(ec_master_t *);

    62

void ec_master_clear_domains(ec_master_t *);

    63

static int ec_master_idle_thread(void *);

    64

static int ec_master_operation_thread(void *);

    65

#ifdef EC_EOE

    66

void ec_master_eoe_run(unsigned long);

    67

#endif

    68

    69

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

    70

    71

/**

    72

   Master constructor.

    73

   \return 0 in case of success, else < 0

    74

*/

    75

    76

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

    77

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

    78

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

    79

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

    80

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

    81

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

    82

        )

    83

{

    84

    master->index = index;

    85

    master->reserved = 0;

    86

    87

    init_MUTEX(&master->master_sem);

    88

    89

    master->main_mac = main_mac;

    90

    master->backup_mac = backup_mac;

    91

    init_MUTEX(&master->device_sem);

    92

    93

    master->phase = EC_ORPHANED;

    94

    master->injection_seq_fsm = 0;

    95

    master->injection_seq_rt = 0;

    96

    97

    master->slaves = NULL;

    98

    master->slave_count = 0;

    99

   100

    INIT_LIST_HEAD(&master->configs);

   101

   102

    master->scan_busy = 0;

   103

    master->allow_scan = 1;

   104

    init_MUTEX(&master->scan_sem);

   105

    init_waitqueue_head(&master->scan_queue);

   106

   107

    master->config_busy = 0;

   108

    master->allow_config = 1;

   109

    init_MUTEX(&master->config_sem);

   110

    init_waitqueue_head(&master->config_queue);

   111

   112

    INIT_LIST_HEAD(&master->datagram_queue);

   113

    master->datagram_index = 0;

   114

   115

    INIT_LIST_HEAD(&master->domains);

   116

   117

    master->debug_level = 0;

   118

    master->stats.timeouts = 0;

   119

    master->stats.corrupted = 0;

   120

    master->stats.unmatched = 0;

   121

    master->stats.output_jiffies = 0;

   122

    master->frames_timed_out = 0;

   123

   124

    master->thread = NULL;

   125

   126

#ifdef EC_EOE

   127

    init_timer(&master->eoe_timer);

   128

    master->eoe_timer.function = ec_master_eoe_run;

   129

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

   130

    master->eoe_running = 0;

   131

    INIT_LIST_HEAD(&master->eoe_handlers);

   132

#endif

   133

   134

    master->internal_lock = SPIN_LOCK_UNLOCKED;

   135

    master->request_cb = NULL;

   136

    master->release_cb = NULL;

   137

    master->cb_data = NULL;

   138

   139

    INIT_LIST_HEAD(&master->sii_requests);

   140

    init_waitqueue_head(&master->sii_queue);

   141

   142

    INIT_LIST_HEAD(&master->slave_sdo_requests);

   143

    init_waitqueue_head(&master->sdo_queue);

   144

   145

    INIT_LIST_HEAD(&master->phy_requests);

   146

    init_waitqueue_head(&master->phy_queue);

   147

   148

    // init devices

   149

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

   150

        goto out_return;

   151

   152

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

   153

        goto out_clear_main;

   154

   155

    // init state machine datagram

   156

    ec_datagram_init(&master->fsm_datagram);

   157

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

   158

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

   159

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

   160

        goto out_clear_backup;

   161

    }

   162

   163

    // create state machine object

   164

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

   165

   166

    // init character device

   167

    if (ec_cdev_init(&master->cdev, master, device_number))

   168

        goto out_clear_fsm;

   169

   170

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

   171

    master->class_device = device_create(class, NULL,

   172

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

   173

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

   174

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

   175

    master->class_device = class_device_create(class, NULL,

   176

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

   177

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

   178

#else

   179

    master->class_device = class_device_create(class,

   180

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

   181

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

   182

#endif

   183

    if (IS_ERR(master->class_device)) {

   184

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

   185

        goto out_clear_cdev;

   186

    }

   187

   188

    return 0;

   189

   190

out_clear_cdev:

   191

    ec_cdev_clear(&master->cdev);

   192

out_clear_fsm:

   193

    ec_fsm_master_clear(&master->fsm);

   194

    ec_datagram_clear(&master->fsm_datagram);

   195

out_clear_backup:

   196

    ec_device_clear(&master->backup_device);

   197

out_clear_main:

   198

    ec_device_clear(&master->main_device);

   199

out_return:

   200

    return -1;

   201

}

   202

   203

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

   204

   205

/** Destructor.

   206

*/

   207

void ec_master_clear(

   208

        ec_master_t *master /**< EtherCAT master */

   209

        )

   210

{

   211

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

   212

    device_unregister(master->class_device);

   213

#else

   214

    class_device_unregister(master->class_device);

   215

#endif

   216

    ec_cdev_clear(&master->cdev);

   217

#ifdef EC_EOE

   218

    ec_master_clear_eoe_handlers(master);

   219

#endif

   220

    ec_master_clear_domains(master);

   221

    ec_master_clear_slave_configs(master);

   222

    ec_master_clear_slaves(master);

   223

    ec_fsm_master_clear(&master->fsm);

   224

    ec_datagram_clear(&master->fsm_datagram);

   225

    ec_device_clear(&master->backup_device);

   226

    ec_device_clear(&master->main_device);

   227

}

   228

   229

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

   230

   231

#ifdef EC_EOE

   232

/** Clear and free all EoE handlers.

   233

 */

   234

void ec_master_clear_eoe_handlers(

   235

        ec_master_t *master /**< EtherCAT master */

   236

        )

   237

{

   238

    ec_eoe_t *eoe, *next;

   239

   240

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

   241

        list_del(&eoe->list);

   242

        ec_eoe_clear(eoe);

   243

        kfree(eoe);

   244

    }

   245

}

   246

#endif

   247

   248

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

   249

   250

/** Clear all slave configurations.

   251

 */

   252

void ec_master_clear_slave_configs(ec_master_t *master)

   253

{

   254

    ec_slave_config_t *sc, *next;

   255

   256

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

   257

        list_del(&sc->list);

   258

        ec_slave_config_clear(sc);

   259

        kfree(sc);

   260

    }

   261

}

   262

   263

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

   264

   265

/** Clear all slaves.

   266

 */

   267

void ec_master_clear_slaves(ec_master_t *master)

   268

{

   269

    ec_slave_t *slave;

   270

   271

    for (slave = master->slaves;

   272

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

   273

            slave++) {

   274

        ec_slave_clear(slave);

   275

    }

   276

   277

    if (master->slaves) {

   278

        kfree(master->slaves);

   279

        master->slaves = NULL;

   280

    }

   281

   282

    master->slave_count = 0;

   283

}

   284

   285

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

   286

   287

/** Clear all domains.

   288

 */

   289

void ec_master_clear_domains(ec_master_t *master)

   290

{

   291

    ec_domain_t *domain, *next;

   292

   293

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

   294

        list_del(&domain->list);

   295

        ec_domain_clear(domain);

   296

        kfree(domain);

   297

    }

   298

}

   299

   300

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

   301

   302

/** Internal locking callback.

   303

 */

   304

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

   305

{

   306

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

   307

    return 0;

   308

}

   309

   310

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

   311

   312

/** Internal unlocking callback.

   313

 */

   314

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

   315

{

   316

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

   317

}

   318

   319

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

   320

   321

/** Starts the master thread.

   322

 */

   323

int ec_master_thread_start(

   324

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

   325

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

   326

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

   327

        )

   328

{

   329

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

   330

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

   331

    if (IS_ERR(master->thread)) {

   332

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

   333

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

   334

        master->thread = NULL;

   335

        return -1;

   336

    }

   337

   338

    return 0;

   339

}

   340

   341

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

   342

   343

/** Stops the master thread.

   344

 */

   345

void ec_master_thread_stop(

   346

        ec_master_t *master /**< EtherCAT master */

   347

        )

   348

{

   349

    unsigned long sleep_jiffies;

   350

   351

    if (!master->thread) {

   352

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

   353

        return;

   354

    }

   355

   356

    if (master->debug_level)

   357

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

   358

   359

    kthread_stop(master->thread);

   360

    master->thread = NULL;

   361

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

   362

   363

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

   364

        return;

   365

   366

    // wait for FSM datagram

   367

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

   368

    schedule_timeout(sleep_jiffies);

   369

}

   370

   371

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

   372

   373

/** Transition function from ORPHANED to IDLE phase.

   374

 */

   375

int ec_master_enter_idle_phase(

   376

        ec_master_t *master /**< EtherCAT master */

   377

        )

   378

{

   379

    if (master->debug_level)

   380

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

   381

   382

    master->request_cb = ec_master_request_cb;

   383

    master->release_cb = ec_master_release_cb;

   384

    master->cb_data = master;

   385

   386

    master->phase = EC_IDLE;

   387

    if (ec_master_thread_start(master, ec_master_idle_thread,

   388

                "EtherCAT-IDLE")) {

   389

        master->phase = EC_ORPHANED;

   390

        return -1;

   391

    }

   392

   393

    return 0;

   394

}

   395

   396

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

   397

   398

/** Transition function from IDLE to ORPHANED phase.

   399

 */

   400

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

   401

{

   402

    if (master->debug_level)

   403

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

   404

   405

    master->phase = EC_ORPHANED;

   406

   407

#ifdef EC_EOE

   408

    ec_master_eoe_stop(master);

   409

#endif

   410

    ec_master_thread_stop(master);

   411

   412

    down(&master->master_sem);

   413

    ec_master_clear_slaves(master);

   414

    up(&master->master_sem);

   415

}

   416

   417

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

   418

   419

/** Transition function from IDLE to OPERATION phase.

   420

 */

   421

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

   422

{

   423

    ec_slave_t *slave;

   424

#ifdef EC_EOE

   425

    ec_eoe_t *eoe;

   426

#endif

   427

   428

    if (master->debug_level)

   429

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

   430

   431

    down(&master->config_sem);

   432

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

   433

    if (master->config_busy) {

   434

        up(&master->config_sem);

   435

   436

        // wait for slave configuration to complete

   437

        if (wait_event_interruptible(master->config_queue,

   438

                    !master->config_busy)) {

   439

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

   440

            goto out_allow;

   441

        }

   442

   443

        if (master->debug_level)

   444

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

   445

    } else {

   446

        up(&master->config_sem);

   447

    }

   448

   449

    down(&master->scan_sem);

   450

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

   451

    if (!master->scan_busy) {

   452

        up(&master->scan_sem);

   453

    } else {

   454

        up(&master->scan_sem);

   455

   456

        // wait for slave scan to complete

   457

        if (wait_event_interruptible(master->scan_queue, !master->scan_busy)) {

   458

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

   459

            goto out_allow;

   460

        }

   461

   462

        if (master->debug_level)

   463

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

   464

    }

   465

   466

    // set states for all slaves

   467

    for (slave = master->slaves;

   468

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

   469

            slave++) {

   470

        ec_slave_request_state(slave, EC_SLAVE_STATE_PREOP);

   471

    }

   472

#ifdef EC_EOE

   473

    // ... but set EoE slaves to OP

   474

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

   475

        if (ec_eoe_is_open(eoe))

   476

            ec_slave_request_state(eoe->slave, EC_SLAVE_STATE_OP);

   477

    }

   478

#endif

   479

   480

    master->phase = EC_OPERATION;

   481

    master->ext_request_cb = NULL;

   482

    master->ext_release_cb = NULL;

   483

    master->ext_cb_data = NULL;