1

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

     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

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 *  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

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 *  industrial property and similar rights of Beckhoff Automation GmbH.

    27

 *

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 *  vim: expandtab

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 *

    30

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

    31

    32

/**

    33

   \file

    34

   EtherCAT master methods.

    35

*/

    36

    37

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

    38

    39

#include <linux/module.h>

    40

#include <linux/kernel.h>

    41

#include <linux/string.h>

    42

#include <linux/slab.h>

    43

#include <linux/delay.h>

    44

#include <linux/device.h>

    45

#include <linux/version.h>

    46

#include <linux/hrtimer.h>

    47

#include "globals.h"

    48

#include "slave.h"

    49

#include "slave_config.h"

    50

#include "device.h"

    51

#include "datagram.h"

    52

#ifdef EC_EOE

    53

#include "ethernet.h"

    54

#endif

    55

#include "master.h"

    56

    57

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

    58

    59

/** Set to 1 to enable external datagram injection debugging.

    60

 */

    61

#define DEBUG_INJECT 0

    62

    63

#ifdef EC_HAVE_CYCLES

    64

    65

/** Frame timeout in cycles.

    66

 */

    67

static cycles_t timeout_cycles;

    68

    69

/** Timeout for external datagram injection [cycles].

    70

 */

    71

static cycles_t ext_injection_timeout_cycles;

    72

    73

#else

    74

    75

/** Frame timeout in jiffies.

    76

 */

    77

static unsigned long timeout_jiffies;

    78

    79

/** Timeout for external datagram injection [jiffies].

    80

 */

    81

static unsigned long ext_injection_timeout_jiffies;

    82

    83

#endif

    84

    85

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

    86

    87

void ec_master_clear_slave_configs(ec_master_t *);

    88

void ec_master_clear_domains(ec_master_t *);

    89

static int ec_master_idle_thread(void *);

    90

static int ec_master_operation_thread(void *);

    91

#ifdef EC_EOE

    92

static int ec_master_eoe_thread(void *);

    93

#endif

    94

void ec_master_find_dc_ref_clock(ec_master_t *);

    95

    96

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

    97

    98

/** Static variables initializer.

    99

*/

   100

void ec_master_init_static(void)

   101

{

   102

#ifdef EC_HAVE_CYCLES

   103

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

   104

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

   105

#else

   106

    // one jiffy may always elapse between time measurement

   107

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

   108

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

   109

#endif

   110

}

   111

   112

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

   113

   114

/**

   115

   Master constructor.

   116

   \return 0 in case of success, else < 0

   117

*/

   118

   119

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

   120

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

   121

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

   122

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

   123

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

   124

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

   125

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

   126

        )

   127

{

   128

    int ret;

   129

   130

    master->index = index;

   131

    master->reserved = 0;

   132

   133

    sema_init(&master->master_sem, 1);

   134

   135

    master->main_mac = main_mac;

   136

    master->backup_mac = backup_mac;

   137

   138

    sema_init(&master->device_sem, 1);

   139

   140

    master->phase = EC_ORPHANED;

   141

    master->active = 0;

   142

    master->injection_seq_fsm = 0;

   143

    master->injection_seq_rt = 0;

   144

   145

    master->slaves = NULL;

   146

    master->slave_count = 0;

   147

   148

    INIT_LIST_HEAD(&master->configs);

   149

   150

    master->app_time = 0ULL;

   151

    master->app_start_time = 0ULL;

   152

    master->has_start_time = 0;

   153

   154

    master->scan_busy = 0;

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    master->allow_scan = 1;

   156

    sema_init(&master->scan_sem, 1);

   157

    init_waitqueue_head(&master->scan_queue);

   158

   159

    master->config_busy = 0;

   160

    master->allow_config = 1;

   161

    sema_init(&master->config_sem, 1);

   162

    init_waitqueue_head(&master->config_queue);

   163

   164

    INIT_LIST_HEAD(&master->datagram_queue);

   165

    master->datagram_index = 0;

   166

   167

    INIT_LIST_HEAD(&master->ext_datagram_queue);

   168

    sema_init(&master->ext_queue_sem, 1);

   169

   170

    INIT_LIST_HEAD(&master->external_datagram_queue);

   171

   172

    // send interval in IDLE phase

   173

    ec_master_set_send_interval(master, 1000000 / HZ);

   174

   175

    INIT_LIST_HEAD(&master->domains);

   176

   177

    master->debug_level = debug_level;

   178

    master->stats.timeouts = 0;

   179

    master->stats.corrupted = 0;

   180

    master->stats.unmatched = 0;

   181

    master->stats.output_jiffies = 0;

   182

   183

    master->thread = NULL;

   184

   185

#ifdef EC_EOE

   186

    master->eoe_thread = NULL;

   187

    INIT_LIST_HEAD(&master->eoe_handlers);

   188

#endif

   189

   190

    sema_init(&master->io_sem, 1);

   191

    master->send_cb = NULL;

   192

    master->receive_cb = NULL;

   193

    master->cb_data = NULL;

   194

    master->app_send_cb = NULL;

   195

    master->app_receive_cb = NULL;

   196

    master->app_cb_data = NULL;

   197

   198

    INIT_LIST_HEAD(&master->sii_requests);

   199

    init_waitqueue_head(&master->sii_queue);

   200

   201

    INIT_LIST_HEAD(&master->reg_requests);

   202

    init_waitqueue_head(&master->reg_queue);

   203

   204

    // init devices

   205

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

   206

    if (ret < 0)

   207

        goto out_return;

   208

   209

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

   210

    if (ret < 0)

   211

        goto out_clear_main;

   212

   213

    // init state machine datagram

   214

    ec_datagram_init(&master->fsm_datagram);

   215

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

   216

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

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    if (ret < 0) {

   218

        ec_datagram_clear(&master->fsm_datagram);

   219

        EC_MASTER_ERR(master, "Failed to allocate FSM datagram.\n");

   220

        goto out_clear_backup;

   221

    }

   222

   223

    // create state machine object

   224

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

   225

   226

    // init reference sync datagram

   227

    ec_datagram_init(&master->ref_sync_datagram);

   228

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

   229

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

   230

    if (ret < 0) {

   231

        ec_datagram_clear(&master->ref_sync_datagram);

   232

        EC_MASTER_ERR(master, "Failed to allocate reference"

   233

                " synchronisation datagram.\n");

   234

        goto out_clear_fsm;

   235

    }

   236

   237

    // init sync datagram

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    ec_datagram_init(&master->sync_datagram);

   239

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

   240

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

   241

    if (ret < 0) {

   242

        ec_datagram_clear(&master->sync_datagram);

   243

        EC_MASTER_ERR(master, "Failed to allocate"

   244

                " synchronisation datagram.\n");

   245

        goto out_clear_ref_sync;

   246

    }

   247

   248

    // init sync monitor datagram

   249

    ec_datagram_init(&master->sync_mon_datagram);

   250

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

   251

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

   252

    if (ret < 0) {

   253

        ec_datagram_clear(&master->sync_mon_datagram);

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        EC_MASTER_ERR(master, "Failed to allocate sync"

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                " monitoring datagram.\n");

   256

        goto out_clear_sync;

   257

    }

   258

   259

    ec_master_find_dc_ref_clock(master);

   260

   261

    // init character device

   262

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

   263

    if (ret)

   264

        goto out_clear_sync_mon;

   265

   266

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

   267

    master->class_device = device_create(class, NULL,

   268

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

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

   270

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

   271

    master->class_device = device_create(class, NULL,

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

   273

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

   274

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

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    master->class_device = class_device_create(class, NULL,

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

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

   278

#else

   279

    master->class_device = class_device_create(class,

   280

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

   281

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

   282

#endif

   283

    if (IS_ERR(master->class_device)) {

   284

        EC_MASTER_ERR(master, "Failed to create class device!\n");

   285

        ret = PTR_ERR(master->class_device);

   286

        goto out_clear_cdev;

   287

    }

   288

   289

    return 0;

   290

   291

out_clear_cdev:

   292

    ec_cdev_clear(&master->cdev);

   293

out_clear_sync_mon:

   294

    ec_datagram_clear(&master->sync_mon_datagram);

   295

out_clear_sync:

   296

    ec_datagram_clear(&master->sync_datagram);

   297

out_clear_ref_sync:

   298

    ec_datagram_clear(&master->ref_sync_datagram);

   299

out_clear_fsm:

   300

    ec_fsm_master_clear(&master->fsm);

   301

    ec_datagram_clear(&master->fsm_datagram);

   302

out_clear_backup:

   303

    ec_device_clear(&master->backup_device);

   304

out_clear_main:

   305

    ec_device_clear(&master->main_device);

   306

out_return:

   307

    return ret;

   308

}

   309

   310

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

   311

   312

/** Destructor.

   313

*/

   314

void ec_master_clear(

   315

        ec_master_t *master /**< EtherCAT master */

   316

        )

   317

{

   318

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

   319

    device_unregister(master->class_device);

   320

#else

   321

    class_device_unregister(master->class_device);

   322

#endif

   323

   324

    ec_cdev_clear(&master->cdev);

   325

   326

#ifdef EC_EOE

   327

    ec_master_clear_eoe_handlers(master);

   328

#endif

   329

    ec_master_clear_domains(master);

   330

    ec_master_clear_slave_configs(master);

   331

    ec_master_clear_slaves(master);

   332

   333

    ec_datagram_clear(&master->sync_mon_datagram);

   334

    ec_datagram_clear(&master->sync_datagram);

   335

    ec_datagram_clear(&master->ref_sync_datagram);

   336

    ec_fsm_master_clear(&master->fsm);

   337

    ec_datagram_clear(&master->fsm_datagram);

   338

    ec_device_clear(&master->backup_device);

   339

    ec_device_clear(&master->main_device);

   340

}

   341

   342

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

   343

   344

#ifdef EC_EOE

   345

/** Clear and free all EoE handlers.

   346

 */

   347

void ec_master_clear_eoe_handlers(

   348

        ec_master_t *master /**< EtherCAT master */

   349

        )

   350

{

   351

    ec_eoe_t *eoe, *next;

   352

   353

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

   354

        list_del(&eoe->list);

   355

        ec_eoe_clear(eoe);

   356

        kfree(eoe);

   357

    }

   358

}

   359

#endif

   360

   361

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

   362

   363

/** Clear all slave configurations.

   364

 */

   365

void ec_master_clear_slave_configs(ec_master_t *master)

   366

{

   367

    ec_slave_config_t *sc, *next;

   368

   369

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

   370

        list_del(&sc->list);

   371

        ec_slave_config_clear(sc);

   372

        kfree(sc);

   373

    }

   374

}

   375

   376

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

   377

   378

/** Clear all slaves.

   379

 */

   380

void ec_master_clear_slaves(ec_master_t *master)

   381

{

   382

    ec_slave_t *slave;

   383

   384

    master->dc_ref_clock = NULL;

   385

   386

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

   387

    // them from the list

   388

   389

    while (!list_empty(&master->sii_requests)) {

   390

        ec_sii_write_request_t *request =

   391

            list_entry(master->sii_requests.next,

   392

                    ec_sii_write_request_t, list);

   393

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

   394

        EC_MASTER_WARN(master, "Discarding SII request, slave %u about"

   395

                " to be deleted.\n", request->slave->ring_position);

   396

        request->state = EC_INT_REQUEST_FAILURE;

   397

        wake_up(&master->sii_queue);

   398

    }

   399

   400

    while (!list_empty(&master->reg_requests)) {

   401

        ec_reg_request_t *request =

   402

            list_entry(master->reg_requests.next, ec_reg_request_t, list);

   403

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

   404

        EC_MASTER_WARN(master, "Discarding register request, slave %u"

   405

                " about to be deleted.\n", request->slave->ring_position);

   406

        request->state = EC_INT_REQUEST_FAILURE;

   407

        wake_up(&master->reg_queue);

   408

    }

   409

   410

    for (slave = master->slaves;

   411

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

   412

            slave++) {

   413

        ec_slave_clear(slave);

   414

    }

   415

   416

    if (master->slaves) {

   417

        kfree(master->slaves);

   418

        master->slaves = NULL;

   419

    }

   420

   421

    master->slave_count = 0;

   422

}

   423

   424

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

   425

   426

/** Clear all domains.

   427

 */

   428

void ec_master_clear_domains(ec_master_t *master)

   429

{

   430

    ec_domain_t *domain, *next;

   431

   432

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

   433

        list_del(&domain->list);

   434

        ec_domain_clear(domain);

   435

        kfree(domain);

   436

    }

   437

}

   438

   439

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

   440

   441

/** Internal sending callback.

   442

 */

   443

void ec_master_internal_send_cb(

   444

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

   445

        )

   446

{

   447

    ec_master_t *master = (ec_master_t *) cb_data;

   448

    down(&master->io_sem);

   449

    ecrt_master_send_ext(master);

   450

    up(&master->io_sem);

   451

}

   452

   453

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

   454

   455

/** Internal receiving callback.

   456

 */

   457

void ec_master_internal_receive_cb(

   458

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

   459

        )

   460

{

   461

    ec_master_t *master = (ec_master_t *) cb_data;

   462

    down(&master->io_sem);

   463

    ecrt_master_receive(master);

   464

    up(&master->io_sem);

   465

}

   466

   467

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

   468

   469

/** Starts the master thread.

   470

 *

   471

 * \retval  0 Success.

   472

 * \retval <0 Error code.

   473

 */

   474

int ec_master_thread_start(

   475

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

   476

        int (*thread_func)(void *), /**< thread function to start */

   477

        const char *name /**< Thread name. */

   478

        )

   479

{

   480

    EC_MASTER_INFO(master, "Starting %s thread.\n", name);

   481

    master->thread = kthread_run(thread_func, master, name);

   482