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

    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 "slave.h"

    50

#include "slave_config.h"

    51

#include "device.h"

    52

#include "datagram.h"

    53

#ifdef EC_EOE

    54

#include "ethernet.h"

    55

#endif

    56

#include "master.h"

    57

    58

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

    59

    60

void ec_master_clear_slave_configs(ec_master_t *);

    61

void ec_master_clear_domains(ec_master_t *);

    62

static int ec_master_idle_thread(ec_master_t *);

    63

static int ec_master_operation_thread(ec_master_t *);

    64

#ifdef EC_EOE

    65

void ec_master_eoe_run(unsigned long);

    66

#endif

    67

    68

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

    69

    70

/**

    71

   Master constructor.

    72

   \return 0 in case of success, else < 0

    73

*/

    74

    75

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

    76

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

    77

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

    78

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

    79

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

    80

        )

    81

{

    82

    unsigned int i;

    83

    84

    master->index = index;

    85

    master->reserved = 0;

    86

    87

    master->main_mac = main_mac;

    88

    master->backup_mac = backup_mac;

    89

    init_MUTEX(&master->device_sem);

    90

    91

    master->mode = EC_MASTER_MODE_ORPHANED;

    92

    master->injection_seq_fsm = 0;

    93

    master->injection_seq_rt = 0;

    94

    95

    INIT_LIST_HEAD(&master->slaves);

    96

    master->slave_count = 0;

    97

    98

    INIT_LIST_HEAD(&master->configs);

    99

   100

    master->scan_busy = 0;

   101

    master->allow_scan = 1;

   102

    init_MUTEX(&master->scan_sem);

   103

    init_waitqueue_head(&master->scan_queue);

   104

   105

    master->config_busy = 0;

   106

    master->allow_config = 1;

   107

    init_MUTEX(&master->config_sem);

   108

    init_waitqueue_head(&master->config_queue);

   109

   110

    INIT_LIST_HEAD(&master->datagram_queue);

   111

    master->datagram_index = 0;

   112

   113

    INIT_LIST_HEAD(&master->domains);

   114

   115

    master->debug_level = 0;

   116

    master->stats.timeouts = 0;

   117

    master->stats.corrupted = 0;

   118

    master->stats.unmatched = 0;

   119

    master->stats.output_jiffies = 0;

   120

    master->frames_timed_out = 0;

   121

   122

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

   123

        master->idle_cycle_times[i] = 0;

   124

#ifdef EC_EOE

   125

        master->eoe_cycle_times[i] = 0;

   126

#endif

   127

    }

   128

    master->idle_cycle_time_pos = 0;

   129

#ifdef EC_EOE

   130

    master->eoe_cycle_time_pos = 0;

   131

   132

    init_timer(&master->eoe_timer);

   133

    master->eoe_timer.function = ec_master_eoe_run;

   134

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

   135

    master->eoe_running = 0;

   136

    INIT_LIST_HEAD(&master->eoe_handlers);

   137

#endif

   138

   139

    master->internal_lock = SPIN_LOCK_UNLOCKED;

   140

    master->request_cb = NULL;

   141

    master->release_cb = NULL;

   142

    master->cb_data = NULL;

   143

   144

    INIT_LIST_HEAD(&master->sii_requests);

   145

    init_MUTEX(&master->sii_sem);

   146

    init_waitqueue_head(&master->sii_queue);

   147

   148

    INIT_LIST_HEAD(&master->slave_sdo_requests);

   149

    init_MUTEX(&master->sdo_sem);

   150

    init_waitqueue_head(&master->sdo_queue);

   151

   152

    // init devices

   153

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

   154

        goto out_return;

   155

   156

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

   157

        goto out_clear_main;

   158

   159

    // init state machine datagram

   160

    ec_datagram_init(&master->fsm_datagram);

   161

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

   162

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

   163

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

   164

        goto out_clear_backup;

   165

    }

   166

   167

    // create state machine object

   168

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

   169

   170

    // init character device

   171

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

   172

        goto out_clear_fsm;

   173

   174

    return 0;

   175

   176

out_clear_fsm:

   177

    ec_fsm_master_clear(&master->fsm);

   178

    ec_datagram_clear(&master->fsm_datagram);

   179

out_clear_backup:

   180

    ec_device_clear(&master->backup_device);

   181

out_clear_main:

   182

    ec_device_clear(&master->main_device);

   183

out_return:

   184

    return -1;

   185

}

   186

   187

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

   188

   189

/** Destructor.

   190

*/

   191

void ec_master_clear(

   192

        ec_master_t *master /**< EtherCAT master */

   193

        )

   194

{

   195

    ec_cdev_clear(&master->cdev);

   196

#ifdef EC_EOE

   197

    ec_master_clear_eoe_handlers(master);

   198

#endif

   199

    ec_master_clear_domains(master);

   200

    ec_master_clear_slave_configs(master);

   201

    ec_master_clear_slaves(master);

   202

    ec_fsm_master_clear(&master->fsm);

   203

    ec_datagram_clear(&master->fsm_datagram);

   204

    ec_device_clear(&master->backup_device);

   205

    ec_device_clear(&master->main_device);

   206

}

   207

   208

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

   209

   210

#ifdef EC_EOE

   211

/** Clear and free all EoE handlers.

   212

 */

   213

void ec_master_clear_eoe_handlers(

   214

        ec_master_t *master /**< EtherCAT master */

   215

        )

   216

{

   217

    ec_eoe_t *eoe, *next;

   218

   219

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

   220

        list_del(&eoe->list);

   221

        ec_eoe_clear(eoe);

   222

        kfree(eoe);

   223

    }

   224

}

   225

#endif

   226

   227

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

   228

   229

/** Clear all slave configurations.

   230

 */

   231

void ec_master_clear_slave_configs(ec_master_t *master)

   232

{

   233

    ec_slave_config_t *sc, *next;

   234

   235

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

   236

        list_del(&sc->list);

   237

        ec_slave_config_clear(sc);

   238

        kfree(sc);

   239

    }

   240

}

   241

   242

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

   243

   244

/** Clear all slaves.

   245

 */

   246

void ec_master_clear_slaves(ec_master_t *master)

   247

{

   248

    ec_slave_t *slave, *next;

   249

   250

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

   251

        list_del(&slave->list);

   252

        ec_slave_clear(slave);

   253

        kfree(slave);

   254

    }

   255

   256

    master->slave_count = 0;

   257

}

   258

   259

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

   260

   261

/** Clear all domains.

   262

 */

   263

void ec_master_clear_domains(ec_master_t *master)

   264

{

   265

    ec_domain_t *domain, *next;

   266

   267

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

   268

        list_del(&domain->list);

   269

        ec_domain_clear(domain);

   270

        kfree(domain);

   271

    }

   272

}

   273

   274

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

   275

   276

/** Internal locking callback.

   277

 */

   278

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

   279

{

   280

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

   281

    return 0;

   282

}

   283

   284

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

   285

   286

/** Internal unlocking callback.

   287

 */

   288

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

   289

{

   290

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

   291

}

   292

   293

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

   294

   295

/** Starts the master thread.

   296

 */

   297

int ec_master_thread_start(

   298

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

   299

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

   300

        )

   301

{

   302

    init_completion(&master->thread_exit);

   303

   304

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

   305

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

   306

                    master, CLONE_KERNEL)))

   307

        return -1;

   308

   309

    return 0;

   310

}

   311

   312

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

   313

   314

/** Stops the master thread.

   315

 */

   316

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

   317

{

   318

    if (!master->thread_id) {

   319

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

   320

        return;

   321

    }

   322

   323

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

   324

    wait_for_completion(&master->thread_exit);

   325

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

   326

   327

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

   328

   329

    // wait for FSM datagram

   330

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

   331

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

   332

        schedule();

   333

}

   334

   335

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

   336

   337

/** Transition function from ORPHANED to IDLE mode.

   338

 */

   339

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

   340

{

   341

    master->request_cb = ec_master_request_cb;

   342

    master->release_cb = ec_master_release_cb;

   343

    master->cb_data = master;

   344

   345

    master->mode = EC_MASTER_MODE_IDLE;

   346

    if (ec_master_thread_start(master, ec_master_idle_thread)) {

   347

        master->mode = EC_MASTER_MODE_ORPHANED;

   348

        return -1;

   349

    }

   350

   351

    return 0;

   352

}

   353

   354

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

   355

   356

/** Transition function from IDLE to ORPHANED mode.

   357

 */

   358

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

   359

{

   360

    master->mode = EC_MASTER_MODE_ORPHANED;

   361

   362

#ifdef EC_EOE

   363

    ec_master_eoe_stop(master);

   364

#endif

   365

    ec_master_thread_stop(master);

   366

    ec_master_clear_slaves(master);

   367

}

   368

   369

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

   370

   371

/** Transition function from IDLE to OPERATION mode.

   372

 */

   373

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

   374

{

   375

    ec_slave_t *slave;

   376

#ifdef EC_EOE

   377

    ec_eoe_t *eoe;

   378

#endif

   379

   380

    down(&master->config_sem);

   381

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

   382

    if (master->config_busy) {

   383

        up(&master->config_sem);

   384

   385

        // wait for slave configuration to complete

   386

        if (wait_event_interruptible(master->config_queue,

   387

                    !master->config_busy)) {

   388

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

   389

            goto out_allow;

   390

        }

   391

   392

        if (master->debug_level)

   393

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

   394

    } else {

   395

        up(&master->config_sem);

   396

    }

   397

   398

    down(&master->scan_sem);

   399

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

   400

    if (!master->scan_busy) {

   401

        up(&master->scan_sem);

   402

    } else {

   403

        up(&master->scan_sem);

   404

   405

        // wait for slave scan to complete

   406

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

   407

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

   408

            goto out_allow;

   409

        }

   410

   411

        if (master->debug_level)

   412

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

   413

    }

   414

   415

    // set states for all slaves

   416

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

   417

        ec_slave_request_state(slave, EC_SLAVE_STATE_PREOP);

   418

    }

   419

#ifdef EC_EOE

   420

    // ... but set EoE slaves to OP

   421

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

   422

        if (ec_eoe_is_open(eoe))

   423

            ec_slave_request_state(eoe->slave, EC_SLAVE_STATE_OP);

   424

    }

   425

#endif

   426

   427

    if (master->debug_level)

   428

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

   429

   430

    master->mode = EC_MASTER_MODE_OPERATION;

   431

    master->ext_request_cb = NULL;

   432

    master->ext_release_cb = NULL;

   433

    master->ext_cb_data = NULL;

   434

    return 0;

   435

   436

out_allow:

   437

    master->allow_scan = 1;

   438

    master->allow_config = 1;

   439

    return -1;

   440

}

   441

   442

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

   443

   444

/** Transition function from OPERATION to IDLE mode.

   445

 */

   446

void ec_master_leave_operation_mode(ec_master_t *master

   447

                                    /**< EtherCAT master */)

   448

{

   449

    ec_slave_t *slave;

   450

#ifdef EC_EOE

   451

    ec_eoe_t *eoe;

   452

#endif

   453

   454

    master->mode = EC_MASTER_MODE_IDLE;

   455

   456

#ifdef EC_EOE

   457

    ec_master_eoe_stop(master);

   458

#endif

   459

    ec_master_thread_stop(master);

   460

   461

    master->request_cb = ec_master_request_cb;

   462

    master->release_cb = ec_master_release_cb;

   463

    master->cb_data = master;

   464

   465

    ec_master_clear_domains(master);

   466

    ec_master_clear_slave_configs(master);

   467

   468

    // set states for all slaves

   469

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

   470

        ec_slave_request_state(slave, EC_SLAVE_STATE_PREOP);

   471

    }

   472

#ifdef EC_EOE

   473

    // ... but leave EoE slaves in 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

    if (ec_master_thread_start(master, ec_master_idle_thread))

   481

        EC_WARN("Failed to restart master thread!\n");

   482

#ifdef EC_EOE

   483

    ec_master_eoe_start(master);