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.

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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"

    51

#include "device.h"

    52

#include "datagram.h"

    53

#include "ethernet.h"

    54

    55

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

    56

    57

void ec_master_sync_io(ec_master_t *);

    58

void ec_master_idle_run(void *);

    59

void ec_master_eoe_run(unsigned long);

    60

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

    61

ssize_t ec_store_master_attribute(struct kobject *, struct attribute *,

    62

                                  const char *, size_t);

    63

    64

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

    65

    66

/** \cond */

    67

    68

EC_SYSFS_READ_ATTR(info);

    69

EC_SYSFS_READ_WRITE_ATTR(eeprom_write_enable);

    70

EC_SYSFS_READ_WRITE_ATTR(debug_level);

    71

    72

static struct attribute *ec_def_attrs[] = {

    73

    &attr_info,

    74

    &attr_eeprom_write_enable,

    75

    &attr_debug_level,

    76

    NULL,

    77

};

    78

    79

static struct sysfs_ops ec_sysfs_ops = {

    80

    .show = &ec_show_master_attribute,

    81

    .store = ec_store_master_attribute

    82

};

    83

    84

static struct kobj_type ktype_ec_master = {

    85

    .release = ec_master_clear,

    86

    .sysfs_ops = &ec_sysfs_ops,

    87

    .default_attrs = ec_def_attrs

    88

};

    89

    90

/** \endcond */

    91

    92

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

    93

    94

/**

    95

   Master constructor.

    96

   \return 0 in case of success, else < 0

    97

*/

    98

    99

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

   100

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

   101

                   unsigned int eoeif_count, /**< number of EoE interfaces */

   102

                   dev_t dev_num /**< number for XML cdev's */

   103

                   )

   104

{

   105

    ec_eoe_t *eoe, *next_eoe;

   106

    unsigned int i;

   107

   108

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

   109

   110

    master->index = index;

   111

    master->device = NULL;

   112

    master->reserved = 0;

   113

    INIT_LIST_HEAD(&master->slaves);

   114

    INIT_LIST_HEAD(&master->datagram_queue);

   115

    INIT_LIST_HEAD(&master->domains);

   116

    INIT_LIST_HEAD(&master->eoe_handlers);

   117

    INIT_WORK(&master->idle_work, ec_master_idle_run, (void *) master);

   118

    init_timer(&master->eoe_timer);

   119

    master->eoe_timer.function = ec_master_eoe_run;

   120

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

   121

    master->internal_lock = SPIN_LOCK_UNLOCKED;

   122

    master->eoe_running = 0;

   123

    master->eoe_checked = 0;

   124

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

   125

        master->idle_cycle_times[i] = 0;

   126

        master->eoe_cycle_times[i] = 0;

   127

    }

   128

    master->idle_cycle_time_pos = 0;

   129

    master->eoe_cycle_time_pos = 0;

   130

   131

    // create workqueue

   132

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

   133

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

   134

        goto out_return;

   135

    }

   136

   137

    // init XML character device

   138

    if (ec_xmldev_init(&master->xmldev, master, dev_num)) {

   139

        EC_ERR("Failed to init XML character device.\n");

   140

        goto out_clear_wq;

   141

    }

   142

   143

    // create EoE handlers

   144

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

   145

        if (!(eoe = (ec_eoe_t *) kmalloc(sizeof(ec_eoe_t), GFP_KERNEL))) {

   146

            EC_ERR("Failed to allocate EoE-Object.\n");

   147

            goto out_clear_eoe;

   148

        }

   149

        if (ec_eoe_init(eoe)) {

   150

            kfree(eoe);

   151

            goto out_clear_eoe;

   152

        }

   153

        list_add_tail(&eoe->list, &master->eoe_handlers);

   154

    }

   155

   156

    // create state machine object

   157

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

   158

   159

    // init kobject and add it to the hierarchy

   160

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

   161

    kobject_init(&master->kobj);

   162

    master->kobj.ktype = &ktype_ec_master;

   163

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

   164

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

   165

        kobject_put(&master->kobj);

   166

        return -1;

   167

    }

   168

   169

    ec_master_reset(master);

   170

    return 0;

   171

   172

 out_clear_eoe:

   173

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

   174

        list_del(&eoe->list);

   175

        ec_eoe_clear(eoe);

   176

        kfree(eoe);

   177

    }

   178

    ec_xmldev_clear(&master->xmldev);

   179

 out_clear_wq:

   180

    destroy_workqueue(master->workqueue);

   181

 out_return:

   182

    return -1;

   183

}

   184

   185

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

   186

   187

/**

   188

   Master destructor.

   189

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

   190

   and frees the device.

   191

*/

   192

   193

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

   194

{

   195

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

   196

    ec_eoe_t *eoe, *next_eoe;

   197

   198

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

   199

   200

    ec_master_reset(master);

   201

    ec_fsm_clear(&master->fsm);

   202

    destroy_workqueue(master->workqueue);

   203

    ec_xmldev_clear(&master->xmldev);

   204

   205

    // clear EoE objects

   206

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

   207

        list_del(&eoe->list);

   208

        ec_eoe_clear(eoe);

   209

        kfree(eoe);

   210

    }

   211

   212

    if (master->device) {

   213

        ec_device_clear(master->device);

   214

        kfree(master->device);

   215

    }

   216

   217

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

   218

}

   219

   220

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

   221

   222

/**

   223

   Resets the master.

   224

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

   225

   called, to free the slave list, domains etc.

   226

*/

   227

   228

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

   229

{

   230

    ec_datagram_t *datagram, *next_c;

   231

    ec_domain_t *domain, *next_d;

   232

   233

    ec_master_eoe_stop(master);

   234

    ec_master_idle_stop(master);

   235

    ec_master_clear_slaves(master);

   236

   237

    // empty datagram queue

   238

    list_for_each_entry_safe(datagram, next_c,

   239

                             &master->datagram_queue, queue) {

   240

        datagram->state = EC_DATAGRAM_ERROR;

   241

        list_del_init(&datagram->queue);

   242

    }

   243

   244

    // clear domains

   245

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

   246

        list_del(&domain->list);

   247

        kobject_del(&domain->kobj);

   248

        kobject_put(&domain->kobj);

   249

    }

   250

   251

    master->datagram_index = 0;

   252

    master->debug_level = 0;

   253

   254

    master->stats.timeouts = 0;

   255

    master->stats.corrupted = 0;

   256

    master->stats.skipped = 0;

   257

    master->stats.unmatched = 0;

   258

    master->stats.output_jiffies = 0;

   259

   260

    master->mode = EC_MASTER_MODE_ORPHANED;

   261

   262

    master->request_cb = NULL;

   263

    master->release_cb = NULL;

   264

    master->cb_data = NULL;

   265

   266

    master->eeprom_write_enable = 0;

   267

   268

    ec_fsm_reset(&master->fsm);

   269

}

   270

   271

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

   272

   273

/**

   274

   Clears all slaves.

   275

*/

   276

   277

void ec_master_clear_slaves(ec_master_t *master)

   278

{

   279

    ec_slave_t *slave, *next_slave;

   280

   281

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

   282

        list_del(&slave->list);

   283

        kobject_del(&slave->kobj);

   284

        kobject_put(&slave->kobj);

   285

    }

   286

    master->slave_count = 0;

   287

}

   288

   289

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

   290

   291

/**

   292

   Places a datagram in the datagram queue.

   293

*/

   294

   295

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

   296

                              ec_datagram_t *datagram /**< datagram */

   297

                              )

   298

{

   299

    ec_datagram_t *queued_datagram;

   300

   301

    // check, if the datagram is already queued

   302

    list_for_each_entry(queued_datagram, &master->datagram_queue, queue) {

   303

        if (queued_datagram == datagram) {

   304

            master->stats.skipped++;

   305

            ec_master_output_stats(master);

   306

            datagram->state = EC_DATAGRAM_QUEUED;

   307

            return;

   308

        }

   309

    }

   310

   311

    list_add_tail(&datagram->queue, &master->datagram_queue);

   312

    datagram->state = EC_DATAGRAM_QUEUED;

   313

}

   314

   315

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

   316

   317

/**

   318

   Sends the datagrams in the queue.

   319

   \return 0 in case of success, else < 0

   320

*/

   321

   322

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

   323

{

   324

    ec_datagram_t *datagram;

   325

    size_t datagram_size;

   326

    uint8_t *frame_data, *cur_data;

   327

    void *follows_word;

   328

    cycles_t cycles_start, cycles_end;

   329

    unsigned int frame_count, more_datagrams_waiting;

   330

   331

    frame_count = 0;

   332

    cycles_start = get_cycles();

   333

   334

    if (unlikely(master->debug_level > 1))

   335

        EC_DBG("ec_master_send_datagrams\n");

   336

   337

    do {

   338

        // fetch pointer to transmit socket buffer

   339

        frame_data = ec_device_tx_data(master->device);

   340

        cur_data = frame_data + EC_FRAME_HEADER_SIZE;

   341

        follows_word = NULL;

   342

        more_datagrams_waiting = 0;

   343

   344

        // fill current frame with datagrams

   345

        list_for_each_entry(datagram, &master->datagram_queue, queue) {

   346

            if (datagram->state != EC_DATAGRAM_QUEUED) continue;

   347

   348

            // does the current datagram fit in the frame?

   349

            datagram_size = EC_DATAGRAM_HEADER_SIZE + datagram->data_size

   350

                + EC_DATAGRAM_FOOTER_SIZE;

   351

            if (cur_data - frame_data + datagram_size > ETH_DATA_LEN) {

   352

                more_datagrams_waiting = 1;

   353

                break;

   354

            }

   355

   356

            datagram->state = EC_DATAGRAM_SENT;

   357

            datagram->cycles_sent = cycles_start;

   358

            datagram->index = master->datagram_index++;

   359

   360

            if (unlikely(master->debug_level > 1))

   361

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

   362

   363

            // set "datagram following" flag in previous frame

   364

            if (follows_word)

   365

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

   366

   367

            // EtherCAT datagram header

   368

            EC_WRITE_U8 (cur_data,     datagram->type);

   369

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

   370

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

   371

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

   372

            EC_WRITE_U16(cur_data + 8, 0x0000);

   373

            follows_word = cur_data + 6;

   374

            cur_data += EC_DATAGRAM_HEADER_SIZE;

   375

   376

            // EtherCAT datagram data

   377

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

   378

            cur_data += datagram->data_size;

   379

   380

            // EtherCAT datagram footer

   381

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

   382

            cur_data += EC_DATAGRAM_FOOTER_SIZE;

   383

        }

   384

   385

        if (cur_data - frame_data == EC_FRAME_HEADER_SIZE) {

   386

            if (unlikely(master->debug_level > 1))

   387

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

   388

            break;

   389

        }

   390

   391

        // EtherCAT frame header

   392

        EC_WRITE_U16(frame_data, ((cur_data - frame_data

   393

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

   394

   395

        // pad frame

   396

        while (cur_data - frame_data < ETH_ZLEN - ETH_HLEN)

   397

            EC_WRITE_U8(cur_data++, 0x00);

   398

   399

        if (unlikely(master->debug_level > 1))

   400

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

   401

   402

        // send frame

   403

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

   404

        frame_count++;

   405

    }

   406

    while (more_datagrams_waiting);

   407

   408

    if (unlikely(master->debug_level > 1)) {

   409

        cycles_end = get_cycles();

   410

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

   411

               frame_count,

   412

               (unsigned int) (cycles_end - cycles_start) * 1000 / cpu_khz);

   413

    }

   414

}

   415

   416

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

   417

   418

/**

   419

   Processes a received frame.

   420

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

   421

   \return 0 in case of success, else < 0

   422

*/

   423

   424

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

   425

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

   426

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

   427

                                 )

   428

{

   429

    size_t frame_size, data_size;

   430

    uint8_t datagram_type, datagram_index;

   431

    unsigned int cmd_follows, matched;

   432

    const uint8_t *cur_data;

   433

    ec_datagram_t *datagram;

   434

   435

    if (unlikely(size < EC_FRAME_HEADER_SIZE)) {

   436

        master->stats.corrupted++;

   437

        ec_master_output_stats(master);

   438

        return;

   439

    }

   440

   441

    cur_data = frame_data;

   442

   443

    // check length of entire frame

   444

    frame_size = EC_READ_U16(cur_data) & 0x07FF;

   445

    cur_data += EC_FRAME_HEADER_SIZE;

   446

   447

    if (unlikely(frame_size > size)) {

   448

        master->stats.corrupted++;

   449

        ec_master_output_stats(master);

   450

        return;

   451

    }

   452

   453

    cmd_follows = 1;

   454

    while (cmd_follows) {

   455

        // process datagram header

   456

        datagram_type  = EC_READ_U8 (cur_data);

   457

        datagram_index = EC_READ_U8 (cur_data + 1);

   458

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

   459

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

   460

        cur_data += EC_DATAGRAM_HEADER_SIZE;

   461

   462

        if (unlikely(cur_data - frame_data

   463

                     + data_size + EC_DATAGRAM_FOOTER_SIZE > size)) {

   464

            master->stats.corrupted++;

   465

            ec_master_output_stats(master);

   466

            return;

   467

        }

   468

   469

        // search for matching datagram in the queue

   470

        matched = 0;

   471

        list_for_each_entry(datagram, &master->datagram_queue, queue) {

   472

            if (datagram->state == EC_DATAGRAM_SENT

   473

                && datagram->type == datagram_type

   474

                && datagram->index == datagram_index

   475

                && datagram->data_size == data_size) {

   476

                matched = 1;

   477

                break;

   478

            }

   479

        }

   480

   481

        // no matching datagram was found

   482

        if (!matched) {

   483

            master->stats.unmatched++;

   484

            ec_master_output_stats(master);

   485