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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

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 *  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

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 *  GNU General Public License for more details.

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 *

    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

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 *

    23

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

    24

 *  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

    28

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

    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_clear(struct kobject *);

    58

void ec_master_destroy_domains(ec_master_t *);

    59

void ec_master_sync_io(ec_master_t *);

    60

static int ec_master_thread(void *);

    61

void ec_master_eoe_run(unsigned long);

    62

void ec_master_check_sdo(unsigned long);

    63

int ec_master_measure_bus_time(ec_master_t *);

    64

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

    65

ssize_t ec_store_master_attribute(struct kobject *, struct attribute *,

    66

                                  const char *, size_t);

    67

    68

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

    69

    70

/** \cond */

    71

    72

EC_SYSFS_READ_ATTR(info);

    73

EC_SYSFS_READ_WRITE_ATTR(eeprom_write_enable);

    74

EC_SYSFS_READ_WRITE_ATTR(debug_level);

    75

    76

static struct attribute *ec_def_attrs[] = {

    77

    &attr_info,

    78

    &attr_eeprom_write_enable,

    79

    &attr_debug_level,

    80

    NULL,

    81

};

    82

    83

static struct sysfs_ops ec_sysfs_ops = {

    84

    .show = &ec_show_master_attribute,

    85

    .store = ec_store_master_attribute

    86

};

    87

    88

static struct kobj_type ktype_ec_master = {

    89

    .release = ec_master_clear,

    90

    .sysfs_ops = &ec_sysfs_ops,

    91

    .default_attrs = ec_def_attrs

    92

};

    93

    94

/** \endcond */

    95

    96

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

    97

    98

/**

    99

   Master constructor.

   100

   \return 0 in case of success, else < 0

   101

*/

   102

   103

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

   104

        struct kobject *module_kobj, /**< kobject of the master module */

   105

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

   106

        const ec_device_id_t *main_id, /**< ID of main device */

   107

        const ec_device_id_t *backup_id, /**< ID of main device */

   108

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

   109

        )

   110

{

   111

    ec_eoe_t *eoe, *next_eoe;

   112

    unsigned int i;

   113

   114

    atomic_set(&master->available, 1);

   115

    master->index = index;

   116

   117

    master->main_device_id = main_id;

   118

    master->backup_device_id = backup_id;

   119

    init_MUTEX(&master->device_sem);

   120

   121

    master->mode = EC_MASTER_MODE_ORPHANED;

   122

   123

    INIT_LIST_HEAD(&master->slaves);

   124

    master->slave_count = 0;

   125

   126

    INIT_LIST_HEAD(&master->datagram_queue);

   127

    master->datagram_index = 0;

   128

   129

    INIT_LIST_HEAD(&master->domains);

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    master->debug_level = 0;

   131

   132

    master->stats.timeouts = 0;

   133

    master->stats.corrupted = 0;

   134

    master->stats.skipped = 0;

   135

    master->stats.unmatched = 0;

   136

    master->stats.output_jiffies = 0;

   137

   138

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

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        master->idle_cycle_times[i] = 0;

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        master->eoe_cycle_times[i] = 0;

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    }

   142

    master->idle_cycle_time_pos = 0;

   143

    master->eoe_cycle_time_pos = 0;

   144

   145

    init_timer(&master->eoe_timer);

   146

    master->eoe_timer.function = ec_master_eoe_run;

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

   148

    master->eoe_running = 0;

   149

    master->eoe_checked = 0;

   150

    INIT_LIST_HEAD(&master->eoe_handlers);

   151

   152

    master->internal_lock = SPIN_LOCK_UNLOCKED;

   153

    master->request_cb = NULL;

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    master->release_cb = NULL;

   155

    master->cb_data = NULL;

   156

   157

    master->eeprom_write_enable = 0;

   158

   159

    master->sdo_request = NULL;

   160

    master->sdo_seq_user = 0;

   161

    master->sdo_seq_master = 0;

   162

    init_MUTEX(&master->sdo_sem);

   163

    init_timer(&master->sdo_timer);

   164

    master->sdo_timer.function = ec_master_check_sdo;

   165

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

   166

    init_completion(&master->sdo_complete);

   167

   175

    // create EoE handlers

   176

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

   177

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

   178

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

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            goto out_clear_eoe;

   180

        }

   181

        if (ec_eoe_init(eoe)) {

   182

            kfree(eoe);

   183

            goto out_clear_eoe;

   184

        }

   185

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

   186

    }

   187

   188

    // init state machine datagram

   189

    ec_datagram_init(&master->fsm_datagram);

   190

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

   191

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

   192

        goto out_clear_eoe;

   193

    }

   194

   195

    // create state machine object

   196

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

   197

   198

    // init kobject and add it to the hierarchy

   199

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

   200

    kobject_init(&master->kobj);

   201

    master->kobj.ktype = &ktype_ec_master;

   202

    master->kobj.parent = module_kobj;

   203

   204

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

   205

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

   206

        kobject_put(&master->kobj);

   207

        return -1;

   208

    }

   209

   210

    if (kobject_add(&master->kobj)) {

   211

        EC_ERR("Failed to add master kobject.\n");

   212

        kobject_put(&master->kobj);

   213

        return -1;

   214

    }

   215

   216

    return 0;

   217

   218

out_clear_eoe:

   219

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

   220

        list_del(&eoe->list);

   221

        ec_eoe_clear(eoe);

   222

        kfree(eoe);

   223

    }

   228

    return -1;

   229

}

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   231

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

   232

   233

/**

   234

   Master destructor.

   235

   Clears the kobj-hierarchy bottom up and frees the master.

   236

*/

   237

   238

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

   239

{

   240

    ec_master_destroy_slaves(master);

   241

    ec_master_destroy_domains(master);

   242

   243

    // destroy self

   244

    kobject_del(&master->kobj);

   245

    kobject_put(&master->kobj); // free master

   246

}

   247

   248

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

   249

   250

/**

   251

   Clear and free master.

   252

   This method is called by the kobject,

   253

   once there are no more references to it.

   254

*/

   255

   256

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

   257

{

   258

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

   259

    ec_eoe_t *eoe, *next_eoe;

   260

    ec_datagram_t *datagram, *next_datagram;

   261

   262

    // dequeue all datagrams

   263

    list_for_each_entry_safe(datagram, next_datagram,

   264

                             &master->datagram_queue, queue) {

   265

        datagram->state = EC_DATAGRAM_ERROR;

   266

        list_del_init(&datagram->queue);

   267

    }

   268

   269

    ec_fsm_master_clear(&master->fsm);

   270

    ec_datagram_clear(&master->fsm_datagram);

   271

   272

    // clear EoE objects

   273

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

   274

        list_del(&eoe->list);

   275

        ec_eoe_clear(eoe);

   276

        kfree(eoe);

   277

    }

   278

   282

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

   283

   284

    kfree(master);

   285

}

   286

   287

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

   288

   289

/**

   290

   Destroy all slaves.

   291

*/

   292

   293

void ec_master_destroy_slaves(ec_master_t *master)

   294

{

   295

    ec_slave_t *slave, *next_slave;

   296

   297

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

   298

        list_del(&slave->list);

   299

        ec_slave_destroy(slave);

   300

    }

   301

   302

    master->slave_count = 0;

   303

}

   304

   305

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

   306

   307

/**

   308

   Destroy all domains.

   309

*/

   310

   311

void ec_master_destroy_domains(ec_master_t *master)

   312

{

   313

    ec_domain_t *domain, *next_d;

   314

   315

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

   316

        list_del(&domain->list);

   317

        ec_domain_destroy(domain);

   318

    }

   319

}

   320

   321

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

   322

   323

/**

   324

   Flushes the SDO request queue.

   325

*/

   326

   327

void ec_master_flush_sdo_requests(ec_master_t *master)

   328

{

   329

    del_timer_sync(&master->sdo_timer);

   330

    complete(&master->sdo_complete);

   331

    master->sdo_request = NULL;

   332

    master->sdo_seq_user = 0;

   333

    master->sdo_seq_master = 0;

   334

}

   335

   336

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

   337

   338

/**

   339

   Internal locking callback.

   340

*/

   341

   342

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

   343

{

   344

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

   345

    return 0;

   346

}

   347

   348

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

   349

   350

/**

   351

   Internal unlocking callback.

   352

*/

   353

   354

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

   355

{

   356

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

   357

}

   358

   359

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

   360

   361

/**

   362

 * Starts the master thread.

   363

*/

   364

   365

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

   366

{

   367

    init_completion(&master->thread_exit);

   368

   369

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

   370

    if (!(master->thread_id =

   371

                kernel_thread(ec_master_thread, master, CLONE_KERNEL)))

   372

        return -1;

   373

   374

    return 0;

   375

}

   376

   377

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

   378

   379

/**

   380

 * Stops the master thread.

   381

*/

   382

   383

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

   384

{

   385

    if (master->thread_id) {

   386

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

   387

        wait_for_completion(&master->thread_exit);

   388

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

   389

    }    

   390

}

   391

   392

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

   393

   394

/**

   395

 * Transition function from ORPHANED to IDLE mode.

   396

*/

   397

   398

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

   399

{

   400

    master->request_cb = ec_master_request_cb;

   401

    master->release_cb = ec_master_release_cb;

   402

    master->cb_data = master;

   403

   404

    master->mode = EC_MASTER_MODE_IDLE;

   405

    if (ec_master_thread_start(master)) {

   406

        master->mode = EC_MASTER_MODE_ORPHANED;

   407

        return -1;

   408

    }

   409

   410

    return 0;

   411

}

   412

   413

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

   414

   415

/**

   416

 * Transition function from IDLE to ORPHANED mode.

   417

*/

   418

   419

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

   420

{

   421

    master->mode = EC_MASTER_MODE_ORPHANED;

   422

   423

    ec_master_eoe_stop(master);

   424

    ec_master_thread_stop(master);

   425

    ec_master_flush_sdo_requests(master);

   426

}

   427

   428

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

   429

   430

/**

   431

 * Transition function from IDLE to OPERATION mode.

   432

*/

   433

   434

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

   435

{

   436

    ec_slave_t *slave;

   437

   438

    ec_master_eoe_stop(master); // stop EoE timer

   439

    master->eoe_checked = 1; // prevent from starting again by FSM

   440

    ec_master_thread_stop(master);

   441

   442

    master->mode = EC_MASTER_MODE_OPERATION;

   443

   444

    // wait for FSM datagram

   445

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

   446

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

   447

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

   448

        ecrt_master_receive(master);

   449

    }

   450

   451

    // finish running master FSM

   452

    if (ec_fsm_master_running(&master->fsm)) {

   453

        while (ec_fsm_master_exec(&master->fsm)) {

   454

            ec_master_sync_io(master);

   455

        }

   456

    }

   457

   458

    if (master->debug_level) {

   459

        if (ec_master_measure_bus_time(master)) {

   460

            EC_ERR("Bus time measuring failed!\n");

   461

            goto out_idle;

   462

        }

   463

    }

   464

   465

    // set initial slave states

   466

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

   467

        if (ec_slave_is_coupler(slave)) {

   468

            ec_slave_request_state(slave, EC_SLAVE_STATE_OP);

   469

        }

   470

        else {

   471

            ec_slave_request_state(slave, EC_SLAVE_STATE_PREOP);

   472

        }

   473

    }

   474

   475

    master->eoe_checked = 0; // allow starting EoE again

   476

   477

    return 0;

   478

   479

 out_idle:

   480

    master->mode = EC_MASTER_MODE_IDLE;

   481

    if (ec_master_thread_start(master)) {

   482

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

   483

    }

   484

    return -1;

   485

}

   486

   487

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

   488