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.

    31

 *

    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_clear(struct kobject *);

    58

void ec_master_sync_io(ec_master_t *);

    59

void ec_master_idle_run(void *);

    60

void ec_master_eoe_run(unsigned long);

    61

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

    62

ssize_t ec_store_master_attribute(struct kobject *, struct attribute *,

    63

                                  const char *, size_t);

    64

    65

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

    66

    67

/** \cond */

    68

    69

EC_SYSFS_READ_ATTR(info);

    70

EC_SYSFS_READ_WRITE_ATTR(eeprom_write_enable);

    71

EC_SYSFS_READ_WRITE_ATTR(debug_level);

    72

    73

static struct attribute *ec_def_attrs[] = {

    74

    &attr_info,

    75

    &attr_eeprom_write_enable,

    76

    &attr_debug_level,

    77

    NULL,

    78

};

    79

    80

static struct sysfs_ops ec_sysfs_ops = {

    81

    .show = &ec_show_master_attribute,

    82

    .store = ec_store_master_attribute

    83

};

    84

    85

static struct kobj_type ktype_ec_master = {

    86

    .release = ec_master_clear,

    87

    .sysfs_ops = &ec_sysfs_ops,

    88

    .default_attrs = ec_def_attrs

    89

};

    90

    91

/** \endcond */

    92

    93

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

    94

    95

/**

    96

   Master constructor.

    97

   \return 0 in case of success, else < 0

    98

*/

    99

   100

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

   101

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

   102

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

   103

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

   104

                   )

   105

{

   106

    ec_eoe_t *eoe, *next_eoe;

   107

    unsigned int i;

   108

   109

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

   110

   111

    master->index = index;

   112

    master->device = NULL;

   113

    init_MUTEX(&master->device_sem);

   114

    atomic_set(&master->available, 1);

   115

    INIT_LIST_HEAD(&master->slaves);

   116

    INIT_LIST_HEAD(&master->datagram_queue);

   117

    INIT_LIST_HEAD(&master->domains);

   118

    INIT_LIST_HEAD(&master->eoe_handlers);

   119

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

   120

    init_timer(&master->eoe_timer);

   121

    master->eoe_timer.function = ec_master_eoe_run;

   122

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

   123

    master->internal_lock = SPIN_LOCK_UNLOCKED;

   124

    master->eoe_running = 0;

   125

    master->eoe_checked = 0;

   126

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

   127

        master->idle_cycle_times[i] = 0;

   128

        master->eoe_cycle_times[i] = 0;

   129

    }

   130

    master->idle_cycle_time_pos = 0;

   131

    master->eoe_cycle_time_pos = 0;

   132

    master->debug_level = 0;

   133

   134

    // create workqueue

   135

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

   136

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

   137

        goto out_return;

   138

    }

   139

   140

    // init XML character device

   141

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

   142

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

   143

        goto out_clear_wq;

   144

    }

   145

   146

    // create EoE handlers

   147

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

   148

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

   149

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

   150

            goto out_clear_eoe;

   151

        }

   152

        if (ec_eoe_init(eoe)) {

   153

            kfree(eoe);

   154

            goto out_clear_eoe;

   155

        }

   156

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

   157

    }

   158

   159

    // create state machine object

   160

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

   161

   162

    // init kobject and add it to the hierarchy

   163

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

   164

    kobject_init(&master->kobj);

   165

    master->kobj.ktype = &ktype_ec_master;

   166

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

   167

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

   168

        kobject_put(&master->kobj);

   169

        return -1;

   170

    }

   171

   172

    ec_master_reset(master);

   173

    return 0;

   174

   175

 out_clear_eoe:

   176

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

   177

        list_del(&eoe->list);

   178

        ec_eoe_clear(eoe);

   179

        kfree(eoe);

   180

    }

   181

    ec_xmldev_clear(&master->xmldev);

   182

 out_clear_wq:

   183

    destroy_workqueue(master->workqueue);

   184

 out_return:

   185

    return -1;

   186

}

   187

   188

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

   189

   190

/**

   191

   Master destructor.

   192

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

   193

   and frees the device.

   194

*/

   195

   196

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

   197

{

   198

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

   199

    ec_eoe_t *eoe, *next_eoe;

   200

   201

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

   202

   203

    ec_master_reset(master);

   204

    ec_fsm_clear(&master->fsm);

   205

    destroy_workqueue(master->workqueue);

   206

    ec_xmldev_clear(&master->xmldev);

   207

   208

    // clear EoE objects

   209

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

   210

        list_del(&eoe->list);

   211

        ec_eoe_clear(eoe);

   212

        kfree(eoe);

   213

    }

   214

   215

    if (master->device) {

   216

        ec_device_clear(master->device);

   217

        kfree(master->device);

   218

    }

   219

   220

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

   221

   222

    kfree(master);

   223

}

   224

   225

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

   226

   227

/**

   228

   Resets the master.

   229

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

   230

   called, to free the slave list, domains etc.

   231

*/

   232

   233

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

   234

{

   235

    ec_datagram_t *datagram, *next_c;

   236

    ec_domain_t *domain, *next_d;

   237

   238

    ec_master_eoe_stop(master);

   239

    ec_master_idle_stop(master);

   240

    ec_master_clear_slaves(master);

   241

   242

    // empty datagram queue

   243

    list_for_each_entry_safe(datagram, next_c,

   244

                             &master->datagram_queue, queue) {

   245

        datagram->state = EC_DATAGRAM_ERROR;

   246

        list_del_init(&datagram->queue);

   247

    }

   248

   249

    // clear domains

   250

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

   251

        list_del(&domain->list);

   252

        kobject_del(&domain->kobj);

   253

        kobject_put(&domain->kobj);

   254

    }

   255

   256

    master->datagram_index = 0;

   257

   258

    master->stats.timeouts = 0;

   259

    master->stats.corrupted = 0;

   260

    master->stats.skipped = 0;

   261

    master->stats.unmatched = 0;

   262

    master->stats.output_jiffies = 0;

   263

   264

    master->mode = EC_MASTER_MODE_ORPHANED;

   265

   266

    master->request_cb = NULL;

   267

    master->release_cb = NULL;

   268

    master->cb_data = NULL;

   269

   270

    master->eeprom_write_enable = 0;

   271

   272

    ec_fsm_reset(&master->fsm);

   273

}

   274

   275

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

   276

   277

/**

   278

   Clears all slaves.

   279

*/

   280

   281

void ec_master_clear_slaves(ec_master_t *master)

   282

{

   283

    ec_slave_t *slave, *next_slave;

   284

   285

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

   286

        list_del(&slave->list);

   287

        kobject_del(&slave->kobj);

   288

        kobject_put(&slave->kobj);

   289

    }

   290

    master->slave_count = 0;

   291

}

   292

   293

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

   294

   295

/**

   296

   Places a datagram in the datagram queue.

   297

*/

   298

   299

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

   300

                              ec_datagram_t *datagram /**< datagram */

   301

                              )

   302

{

   303

    ec_datagram_t *queued_datagram;

   304

   305

    // check, if the datagram is already queued

   306

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

   307

        if (queued_datagram == datagram) {

   308

            master->stats.skipped++;

   309

            ec_master_output_stats(master);

   310

            datagram->state = EC_DATAGRAM_QUEUED;

   311

            return;

   312

        }

   313

    }

   314

   315

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

   316

    datagram->state = EC_DATAGRAM_QUEUED;

   317

    datagram->cycles_queued = get_cycles();

   318

}

   319

   320

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

   321

   322

/**

   323

   Sends the datagrams in the queue.

   324

   \return 0 in case of success, else < 0

   325

*/

   326

   327

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

   328

{

   329

    ec_datagram_t *datagram, *next;

   330

    size_t datagram_size;

   331

    uint8_t *frame_data, *cur_data;

   332

    void *follows_word;

   333

    cycles_t cycles_start, cycles_sent, cycles_end;

   334

    unsigned long jiffies_sent;

   335

    unsigned int frame_count, more_datagrams_waiting;

   336

    struct list_head sent_datagrams;

   337

   338

    cycles_start = get_cycles();

   339

    frame_count = 0;

   340

    INIT_LIST_HEAD(&sent_datagrams);

   341

   342

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

   343

        EC_DBG("ec_master_send_datagrams\n");

   344

   345

    do {

   346

        // fetch pointer to transmit socket buffer

   347

        frame_data = ec_device_tx_data(master->device);

   348

        cur_data = frame_data + EC_FRAME_HEADER_SIZE;

   349

        follows_word = NULL;

   350

        more_datagrams_waiting = 0;

   351

   352

        // fill current frame with datagrams

   353

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

   354

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

   355

   356

            // does the current datagram fit in the frame?

   357

            datagram_size = EC_DATAGRAM_HEADER_SIZE + datagram->data_size

   358

                + EC_DATAGRAM_FOOTER_SIZE;

   359

            if (cur_data - frame_data + datagram_size > ETH_DATA_LEN) {

   360

                more_datagrams_waiting = 1;

   361

                break;

   362

            }

   363

   364

            list_add_tail(&datagram->sent, &sent_datagrams);

   365

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

   366

   367

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

   368

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

   369

   370

            // set "datagram following" flag in previous frame

   371

            if (follows_word)

   372

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

   373

   374

            // EtherCAT datagram header

   375

            EC_WRITE_U8 (cur_data,     datagram->type);

   376

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

   377

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

   378

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

   379

            EC_WRITE_U16(cur_data + 8, 0x0000);

   380

            follows_word = cur_data + 6;

   381

            cur_data += EC_DATAGRAM_HEADER_SIZE;

   382

   383

            // EtherCAT datagram data

   384

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

   385

            cur_data += datagram->data_size;

   386

   387

            // EtherCAT datagram footer

   388

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

   389

            cur_data += EC_DATAGRAM_FOOTER_SIZE;

   390

        }

   391

   392

        if (list_empty(&sent_datagrams)) {

   393

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

   394

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

   395

            break;

   396

        }

   397

   398

        // EtherCAT frame header

   399

        EC_WRITE_U16(frame_data, ((cur_data - frame_data

   400

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

   401

   402

        // pad frame

   403

        while (cur_data - frame_data < ETH_ZLEN - ETH_HLEN)

   404

            EC_WRITE_U8(cur_data++, 0x00);

   405

   406

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

   407

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

   408

   409

        // send frame

   410

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

   411

        cycles_sent = get_cycles();

   412

        jiffies_sent = jiffies;

   413

   414

        // set datagram states and sending timestamps

   415

        list_for_each_entry_safe(datagram, next, &sent_datagrams, sent) {

   416

            datagram->state = EC_DATAGRAM_SENT;

   417

            datagram->cycles_sent = cycles_sent;

   418

            datagram->jiffies_sent = jiffies_sent;

   419

            list_del_init(&datagram->sent); // empty list of sent datagrams

   420

        }

   421

   422

        frame_count++;

   423

    }

   424

    while (more_datagrams_waiting);

   425

   426

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

   427

        cycles_end = get_cycles();

   428

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

   429

               frame_count,

   430

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

   431

    }

   432

}

   433

   434

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

   435

   436

/**

   437

   Processes a received frame.

   438

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

   439

   \return 0 in case of success, else < 0

   440

*/

   441

   442

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

   443

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

   444

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

   445

                                 )

   446

{

   447

    size_t frame_size, data_size;

   448

    uint8_t datagram_type, datagram_index;

   449

    unsigned int cmd_follows, matched;

   450

    const uint8_t *cur_data;

   451

    ec_datagram_t *datagram;

   452

   453

    if (unlikely(size < EC_FRAME_HEADER_SIZE)) {

   454

        master->stats.corrupted++;

   455

        ec_master_output_stats(master);

   456

        return;

   457

    }

   458

   459

    cur_data = frame_data;

   460

   461

    // check length of entire frame

   462

    frame_size = EC_READ_U16(cur_data) & 0x07FF;

   463

    cur_data += EC_FRAME_HEADER_SIZE;

   464

   465

    if (unlikely(frame_size > size)) {

   466

        master->stats.corrupted++;

   467

        ec_master_output_stats(master);

   468

        return;

   469

    }

   470

   471

    cmd_follows = 1;

   472

    while (cmd_follows) {

   473

        // process datagram header

   474

        datagram_type  = EC_READ_U8 (cur_data);

   475

        datagram_index = EC_READ_U8 (cur_data + 1);

   476

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

   477

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

   478

        cur_data += EC_DATAGRAM_HEADER_SIZE;

   479

   480

        if (unlikely(cur_data - frame_data

   481

                     + data_size + EC_DATAGRAM_FOOTER_SIZE > size)) {

   482

            master->stats.corrupted++;

   483

            ec_master_output_stats(master);

   484

            return;

   485