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

     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,

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 *  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

static cycles_t sdo_injection_timeout_cycles;

    63

#else

    64

    65

/** Frame timeout in jiffies.

    66

 */

    67

static unsigned long timeout_jiffies;

    68

static unsigned long sdo_injection_timeout_jiffies;

    69

    70

#endif

    71

    72

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

    73

    74

void ec_master_clear_slave_configs(ec_master_t *);

    75

void ec_master_clear_domains(ec_master_t *);

    76

static int ec_master_idle_thread(void *);

    77

static int ec_master_operation_thread(void *);

    78

#ifdef EC_EOE

    79

static int ec_master_eoe_thread(void *);

    80

#endif

    81

void ec_master_find_dc_ref_clock(ec_master_t *);

    82

    83

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

    84

    85

/** Static variables initializer.

    86

*/

    87

void ec_master_init_static(void)

    88

{

    89

#ifdef EC_HAVE_CYCLES

    90

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

    91

    sdo_injection_timeout_cycles = (cycles_t) EC_SDO_INJECTION_TIMEOUT /* us */ * (cpu_khz / 1000);

    92

#else

    93

    // one jiffy may always elapse between time measurement

    94

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

    95

    sdo_injection_timeout_jiffies = max(EC_SDO_INJECTION_TIMEOUT * HZ / 1000000, 1);

    96

#endif

    97

}

    98

    99

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

   100

   101

/**

   102

   Master constructor.

   103

   \return 0 in case of success, else < 0

   104

*/

   105

   106

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

   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

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

   111

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

   112

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

   113

        )

   114

{

   115

    int ret;

   116

   117

    master->index = index;

   118

    master->reserved = 0;

   119

   120

    sema_init(&master->master_sem, 1);

   121

   122

    master->main_mac = main_mac;

   123

    master->backup_mac = backup_mac;

   124

   125

    sema_init(&master->device_sem, 1);

   126

   127

    master->phase = EC_ORPHANED;

   128

    master->active = 0;

   129

    master->injection_seq_fsm = 0;

   130

    master->injection_seq_rt = 0;

   131

   132

    master->slaves = NULL;

   133

    master->slave_count = 0;

   134

   135

    INIT_LIST_HEAD(&master->configs);

   136

   137

    master->app_time = 0ULL;

   138

    master->app_start_time = 0ULL;

   139

    master->has_start_time = 0;

   140

   141

    master->scan_busy = 0;

   142

    master->allow_scan = 1;

   143

    sema_init(&master->scan_sem, 1);

   144

    init_waitqueue_head(&master->scan_queue);

   145

   146

    master->config_busy = 0;

   147

    master->allow_config = 1;

   148

    sema_init(&master->config_sem, 1);

   149

    init_waitqueue_head(&master->config_queue);

   150

   151

    INIT_LIST_HEAD(&master->datagram_queue);

   152

    master->datagram_index = 0;

   153

   154

    INIT_LIST_HEAD(&master->ext_datagram_queue);

   155

    sema_init(&master->ext_queue_sem, 1);

   156

   157

    INIT_LIST_HEAD(&master->sdo_datagram_queue);

   158

    master->max_queue_size = EC_MAX_DATA_SIZE;

   159

   160

    INIT_LIST_HEAD(&master->domains);

   161

   162

    master->debug_level = debug_level;

   163

    master->stats.timeouts = 0;

   164

    master->stats.corrupted = 0;

   165

    master->stats.unmatched = 0;

   166

    master->stats.output_jiffies = 0;

   167

    master->frames_timed_out = 0;

   168

   169

    master->thread = NULL;

   170

   171

#ifdef EC_EOE

   172

    master->eoe_thread = NULL;

   173

    INIT_LIST_HEAD(&master->eoe_handlers);

   174

#endif

   175

   176

    sema_init(&master->io_sem, 1);

   177

    master->send_cb = NULL;

   178

    master->receive_cb = NULL;

   179

    master->cb_data = NULL;

   180

    master->app_send_cb = NULL;

   181

    master->app_receive_cb = NULL;

   182

    master->app_cb_data = NULL;

   183

   184

    INIT_LIST_HEAD(&master->sii_requests);

   185

    init_waitqueue_head(&master->sii_queue);

   186

   187

    INIT_LIST_HEAD(&master->slave_sdo_requests);

   188

    init_waitqueue_head(&master->sdo_queue);

   189

   190

    INIT_LIST_HEAD(&master->reg_requests);

   191

    init_waitqueue_head(&master->reg_queue);

   192

   193

    INIT_LIST_HEAD(&master->foe_requests);

   194

    init_waitqueue_head(&master->foe_queue);

   195

   196

    // init devices

   197

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

   198

    if (ret < 0)

   199

        goto out_return;

   200

   201

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

   202

    if (ret < 0)

   203

        goto out_clear_main;

   204

   205

    // init state machine datagram

   206

    ec_datagram_init(&master->fsm_datagram);

   207

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

   208

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

   209

    if (ret < 0) {

   210

        ec_datagram_clear(&master->fsm_datagram);

   211

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

   212

        goto out_clear_backup;

   213

    }

   214

   215

    // create state machine object

   216

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

   217

   218

    // init reference sync datagram

   219

    ec_datagram_init(&master->ref_sync_datagram);

   220

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

   221

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

   222

    if (ret < 0) {

   223

        ec_datagram_clear(&master->ref_sync_datagram);

   224

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

   225

        goto out_clear_fsm;

   226

    }

   227

   228

    // init sync datagram

   229

    ec_datagram_init(&master->sync_datagram);

   230

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

   231

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

   232

    if (ret < 0) {

   233

        ec_datagram_clear(&master->sync_datagram);

   234

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

   235

        goto out_clear_ref_sync;

   236

    }

   237

   238

    // init sync monitor datagram

   239

    ec_datagram_init(&master->sync_mon_datagram);

   240

    snprintf(master->sync_mon_datagram.name, EC_DATAGRAM_NAME_SIZE, "syncmon");

   241

    ret = ec_datagram_brd(&master->sync_mon_datagram, 0x092c, 4);

   242

    if (ret < 0) {

   243

        ec_datagram_clear(&master->sync_mon_datagram);

   244

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

   245

        goto out_clear_sync;

   246

    }

   247

   248

    ec_master_find_dc_ref_clock(master);

   249

   250

    // init character device

   251

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

   252

    if (ret)

   253

        goto out_clear_sync_mon;

   254

   255

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

   256

    master->class_device = device_create(class, NULL,

   257

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

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

   259

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

   260

    master->class_device = device_create(class, NULL,

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

   262

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

   263

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

   264

    master->class_device = class_device_create(class, NULL,

   265

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

   266

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

   267

#else

   268

    master->class_device = class_device_create(class,

   269

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

   270

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

   271

#endif

   272

    if (IS_ERR(master->class_device)) {

   273

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

   274

        ret = PTR_ERR(master->class_device);

   275

        goto out_clear_cdev;

   276

    }

   277

   278

    return 0;

   279

   280

out_clear_cdev:

   281

    ec_cdev_clear(&master->cdev);

   282

out_clear_sync_mon:

   283

    ec_datagram_clear(&master->sync_mon_datagram);

   284

out_clear_sync:

   285

    ec_datagram_clear(&master->sync_datagram);

   286

out_clear_ref_sync:

   287

    ec_datagram_clear(&master->ref_sync_datagram);

   288

out_clear_fsm:

   289

    ec_fsm_master_clear(&master->fsm);

   290

    ec_datagram_clear(&master->fsm_datagram);

   291

out_clear_backup:

   292

    ec_device_clear(&master->backup_device);

   293

out_clear_main:

   294

    ec_device_clear(&master->main_device);

   295

out_return:

   296

    return ret;

   297

}

   298

   299

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

   300

   301

/** Destructor.

   302

*/

   303

void ec_master_clear(

   304

        ec_master_t *master /**< EtherCAT master */

   305

        )

   306

{

   307

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

   308

    device_unregister(master->class_device);

   309

#else

   310

    class_device_unregister(master->class_device);

   311

#endif

   312

   313

    ec_cdev_clear(&master->cdev);

   314

   315

#ifdef EC_EOE

   316

    ec_master_clear_eoe_handlers(master);

   317

#endif

   318

    ec_master_clear_domains(master);

   319

    ec_master_clear_slave_configs(master);

   320

    ec_master_clear_slaves(master);

   321

   322

    ec_datagram_clear(&master->sync_mon_datagram);

   323

    ec_datagram_clear(&master->sync_datagram);

   324

    ec_datagram_clear(&master->ref_sync_datagram);

   325

    ec_fsm_master_clear(&master->fsm);

   326

    ec_datagram_clear(&master->fsm_datagram);

   327

    ec_device_clear(&master->backup_device);

   328

    ec_device_clear(&master->main_device);

   329

}

   330

   331

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

   332

   333

#ifdef EC_EOE

   334

/** Clear and free all EoE handlers.

   335

 */

   336

void ec_master_clear_eoe_handlers(

   337

        ec_master_t *master /**< EtherCAT master */

   338

        )

   339

{

   340

    ec_eoe_t *eoe, *next;

   341

   342

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

   343

        list_del(&eoe->list);

   344

        ec_eoe_clear(eoe);

   345

        kfree(eoe);

   346

    }

   347

}

   348

#endif

   349

   350

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

   351

   352

/** Clear all slave configurations.

   353

 */

   354

void ec_master_clear_slave_configs(ec_master_t *master)

   355

{

   356

    ec_slave_config_t *sc, *next;

   357

   358

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

   359

        list_del(&sc->list);

   360

        ec_slave_config_clear(sc);

   361

        kfree(sc);

   362

    }

   363

}

   364

   365

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

   366

   367

/** Clear all slaves.

   368

 */

   369

void ec_master_clear_slaves(ec_master_t *master)

   370

{

   371

    ec_slave_t *slave;

   372

   373

    master->dc_ref_clock = NULL;

   374

   375

    // external requests are obsolete, so we wake pending waiters and remove

   376

    // them from the list

   377

    //

   378

	// SII requests

   379

	while (1) {

   380

		ec_sii_write_request_t *request;

   381

		if (list_empty(&master->sii_requests))

   382

			break;

   383

		// get first request

   384

        request = list_entry(master->sii_requests.next,

   385

                ec_sii_write_request_t, list);

   386

		list_del_init(&request->list); // dequeue

   387

		EC_INFO("Discarding SII request, slave %u does not exist anymore.\n",

   388

				request->slave->ring_position);

   389

		request->state = EC_INT_REQUEST_FAILURE;

   390

		wake_up(&master->sii_queue);

   391

	}

   392

   393

	// Register requests

   394

	while (1) {

   395

	    ec_reg_request_t *request;

   396

		if (list_empty(&master->reg_requests))

   397

			break;

   398

		// get first request

   399

		request = list_entry(master->reg_requests.next,

   400

				ec_reg_request_t, list);

   401

		list_del_init(&request->list); // dequeue

   402

		EC_INFO("Discarding Reg request, slave %u does not exist anymore.\n",

   403

				request->slave->ring_position);

   404

		request->state = EC_INT_REQUEST_FAILURE;

   405

		wake_up(&master->reg_queue);

   406

	}

   407

   408

	// SDO requests

   409

	while (1) {

   410

		ec_master_sdo_request_t *request;

   411

		if (list_empty(&master->slave_sdo_requests))

   412

			break;

   413

		// get first request

   414

		request = list_entry(master->slave_sdo_requests.next,

   415

				ec_master_sdo_request_t, list);

   416

		list_del_init(&request->list); // dequeue

   417

		EC_INFO("Discarding SDO request, slave %u does not exist anymore.\n",

   418

				request->slave->ring_position);

   419

		request->req.state = EC_INT_REQUEST_FAILURE;

   420

		wake_up(&master->sdo_queue);

   421

	}

   422

   423

	// FoE requests

   424

	while (1) {

   425

		ec_master_foe_request_t *request;

   426

		if (list_empty(&master->foe_requests))

   427

			break;

   428

		// get first request

   429

		request = list_entry(master->foe_requests.next,

   430

				ec_master_foe_request_t, list);

   431

		list_del_init(&request->list); // dequeue

   432

		EC_INFO("Discarding FOE request, slave %u does not exist anymore.\n",

   433

				request->slave->ring_position);

   434

		request->req.state = EC_INT_REQUEST_FAILURE;

   435

		wake_up(&master->foe_queue);

   436

	}

   437

   438

    for (slave = master->slaves;

   439

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

   440

            slave++) {

   441

        ec_slave_clear(slave);

   442

    }

   443

   444

    if (master->slaves) {

   445

        kfree(master->slaves);

   446

        master->slaves = NULL;

   447

    }

   448

   449

    master->slave_count = 0;

   450

}

   451

   452

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

   453

   454

/** Clear all domains.

   455

 */

   456

void ec_master_clear_domains(ec_master_t *master)

   457

{

   458

    ec_domain_t *domain, *next;

   459

   460

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

   461

        list_del(&domain->list);

   462

        ec_domain_clear(domain);

   463

        kfree(domain);

   464

    }

   465

}

   466

   467

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

   468

   469

/** Internal sending callback.

   470

 */

   471

void ec_master_internal_send_cb(

   472

        void *cb_data /**< Callback data. */

   473

        )

   474

{

   475

    ec_master_t *master = (ec_master_t *) cb_data;

   476

    down(&master->io_sem);

   477

    ecrt_master_send_ext(master);

   478

    up(&master->io_sem);

   479

}

   480

   481

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

   482

   483

/** Internal receiving callback.