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

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 *

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 *  $Id$

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 *

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 *  Copyright (C) 2006  Florian Pose, Ingenieurgemeinschaft IgH

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 *

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 *  This file is part of the IgH EtherCAT Master.

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 *

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 *  The IgH EtherCAT Master is free software; you can redistribute it

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 *  and/or modify it under the terms of the GNU General Public License

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 *  as published by the Free Software Foundation; either version 2 of the

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 *  License, or (at your option) any later version.

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 *

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 *  The IgH EtherCAT Master is distributed in the hope that it will be

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 *  useful, but WITHOUT ANY WARRANTY; without even the implied warranty of

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 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

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 *  GNU General Public License for more details.

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 *

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 *  You should have received a copy of the GNU General Public License

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 *  along with the IgH EtherCAT Master; if not, write to the Free Software

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 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA

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 *

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 *  The right to use EtherCAT Technology is granted and comes free of

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 *  charge under condition of compatibility of product made by

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 *  Licensee. People intending to distribute/sell products based on the

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 *  code, have to sign an agreement to guarantee that products using

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 *  software based on IgH EtherCAT master stay compatible with the actual

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 *  EtherCAT specification (which are released themselves as an open

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 *  standard) as the (only) precondition to have the right to use EtherCAT

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 *  Technology, IP and trade marks.

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 *

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

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/**

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   \file

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   EtherCAT master methods.

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*/

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

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#include <linux/module.h>

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#include <linux/kernel.h>

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#include <linux/string.h>

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#include <linux/slab.h>

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#include <linux/delay.h>

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#include "../include/ecrt.h"

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#include "globals.h"

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#include "master.h"

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#include "slave.h"

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#include "types.h"

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#include "device.h"

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#include "ethernet.h"

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

    57

    58

void ec_master_freerun(void *);

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void ec_master_eoe_run(unsigned long);

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

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ssize_t ec_store_master_attribute(struct kobject *, struct attribute *,

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                                  const char *, size_t);

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

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    66

/** \cond */

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    68

EC_SYSFS_READ_ATTR(slave_count);

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EC_SYSFS_READ_ATTR(mode);

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EC_SYSFS_READ_WRITE_ATTR(eeprom_write_enable);

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static struct attribute *ec_def_attrs[] = {

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    &attr_slave_count,

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    &attr_mode,

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    &attr_eeprom_write_enable,

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    NULL,

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};

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static struct sysfs_ops ec_sysfs_ops = {

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    .show = &ec_show_master_attribute,

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    .store = ec_store_master_attribute

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};

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static struct kobj_type ktype_ec_master = {

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    .release = ec_master_clear,

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    .sysfs_ops = &ec_sysfs_ops,

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    .default_attrs = ec_def_attrs

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};

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/** \endcond */

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

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/**

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   Master constructor.

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   \return 0 in case of success, else < 0

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*/

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

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

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                   unsigned int eoe_devices /**< number of EoE devices */

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                   )

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{

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    ec_eoe_t *eoe, *next_eoe;

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    unsigned int i;

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

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    master->index = index;

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    master->device = NULL;

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    master->reserved = 0;

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    INIT_LIST_HEAD(&master->slaves);

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    INIT_LIST_HEAD(&master->domains);

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    INIT_LIST_HEAD(&master->eoe_handlers);

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

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    init_timer(&master->eoe_timer);

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    master->eoe_timer.function = ec_master_eoe_run;

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

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    master->internal_lock = SPIN_LOCK_UNLOCKED;

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    master->eoe_running = 0;

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    // create workqueue

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

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

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        goto out_return;

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    }

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    // create EoE handlers

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

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

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

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            goto out_clear_eoe;

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        }

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        if (ec_eoe_init(eoe)) {

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            kfree(eoe);

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            goto out_clear_eoe;

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        }

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

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    }

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    // create state machine object

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

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    // init kobject and add it to the hierarchy

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

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    kobject_init(&master->kobj);

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    master->kobj.ktype = &ktype_ec_master;

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

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

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        kobject_put(&master->kobj);

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        return -1;

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    }

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    ec_master_reset(master);

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    return 0;

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 out_clear_eoe:

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

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        list_del(&eoe->list);

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        ec_eoe_clear(eoe);

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        kfree(eoe);

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    }

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    destroy_workqueue(master->workqueue);

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 out_return:

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    return -1;

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}

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

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/**

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   Master destructor.

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   and frees the device.

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*/

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

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{

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

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    ec_eoe_t *eoe, *next_eoe;

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

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    ec_master_reset(master);

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    ec_fsm_clear(&master->fsm);

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    destroy_workqueue(master->workqueue);

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    // clear EoE objects

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

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        list_del(&eoe->list);

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        ec_eoe_clear(eoe);

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        kfree(eoe);

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    }

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    if (master->device) {

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        ec_device_clear(master->device);

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        kfree(master->device);

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    }

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

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}

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

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/**

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   Resets the master.

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

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   called, to free the slave list, domains etc.

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*/

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

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{

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    ec_domain_t *domain, *next_d;

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    ec_master_eoe_stop(master);

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    ec_master_freerun_stop(master);

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    ec_master_clear_slaves(master);

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    }

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    // clear domains

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

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        list_del(&domain->list);

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        kobject_del(&domain->kobj);

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        kobject_put(&domain->kobj);

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    }

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    master->debug_level = 0;

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    master->timeout = 500; // 500us

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    master->stats.timeouts = 0;

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    master->stats.delayed = 0;

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    master->stats.corrupted = 0;

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    master->stats.unmatched = 0;

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    master->stats.t_last = 0;

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    master->mode = EC_MASTER_MODE_IDLE;

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    master->request_cb = NULL;

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    master->release_cb = NULL;

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    master->cb_data = NULL;

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    master->eeprom_write_enable = 0;

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    ec_fsm_reset(&master->fsm);

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}

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

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/**

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   Clears all slaves.

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*/

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void ec_master_clear_slaves(ec_master_t *master)

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{

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    ec_slave_t *slave, *next_slave;

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

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        list_del(&slave->list);

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        kobject_del(&slave->kobj);

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        kobject_put(&slave->kobj);

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    }

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    master->slave_count = 0;

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}

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

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/**

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            if (unlikely(master->debug_level))

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            return;

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        }

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    }

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   \return 0 in case of success, else < 0

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*/

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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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    frame_count = 0;

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    t_start = get_cycles();

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

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    do {

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        // fetch pointer to transmit socket buffer

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        frame_data = ec_device_tx_data(master->device);

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        cur_data = frame_data + EC_FRAME_HEADER_SIZE;

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        follows_word = NULL;

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                break;

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            }

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

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            if (follows_word)

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

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            EC_WRITE_U16(cur_data + 8, 0x0000);

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            follows_word = cur_data + 6;

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

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        }

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        if (cur_data - frame_data == EC_FRAME_HEADER_SIZE) {

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

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

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            break;

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        }

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        // EtherCAT frame header

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        EC_WRITE_U16(frame_data, ((cur_data - frame_data

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

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        // pad frame

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        while (cur_data - frame_data < ETH_ZLEN - ETH_HLEN)

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            EC_WRITE_U8(cur_data++, 0x00);

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

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

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        // send frame

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

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        frame_count++;

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    }

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   394

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

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        t_end = get_cycles();

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

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    }

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}

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

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/**

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   Processes a received frame.

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

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   \return 0 in case of success, else < 0

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*/

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

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

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

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                       )

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{

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    size_t frame_size, data_size;

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    unsigned int cmd_follows, matched;

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    const uint8_t *cur_data;

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   420

    if (unlikely(size < EC_FRAME_HEADER_SIZE)) {

   421

        master->stats.corrupted++;

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        ec_master_output_stats(master);

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        return;

   424

    }

   425

   426

    cur_data = frame_data;

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   428

    // check length of entire frame

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    frame_size = EC_READ_U16(cur_data) & 0x07FF;

   430

    cur_data += EC_FRAME_HEADER_SIZE;

   431

   432

    if (unlikely(frame_size > size)) {

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        master->stats.corrupted++;

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        ec_master_output_stats(master);

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        return;

   436

    }

   437

   438

    cmd_follows = 1;

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    while (cmd_follows) {

   446

   447

        if (unlikely(cur_data - frame_data

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            master->stats.corrupted++;

   450

            ec_master_output_stats(master);

   451

            return;

   452

        }

   453

   455

        matched = 0;

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                matched = 1;

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                break;

   463

            }

   464

        }

   465

   467

        if (!matched) {

   468

            master->stats.unmatched++;

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            ec_master_output_stats(master);

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            continue;

   472

        }

   473

   476

        cur_data += data_size;

   477