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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

    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

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

    26

 *  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

    29

 *  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_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 *);

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ssize_t ec_store_master_attribute(struct kobject *, struct attribute *,

    62

                                  const char *, size_t);

    63

    64

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

    65

    66

/** \cond */

    67

    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[] = {

    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

                   )

   103

{

   104

    ec_eoe_t *eoe, *next_eoe;

   105

    unsigned int i;

   106

   107

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

   108

   109

    master->index = index;

   110

    master->device = NULL;

   111

    master->reserved = 0;

   112

    INIT_LIST_HEAD(&master->slaves);

   113

    INIT_LIST_HEAD(&master->datagram_queue);

   114

    INIT_LIST_HEAD(&master->domains);

   115

    INIT_LIST_HEAD(&master->eoe_handlers);

   116

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

   117

    init_timer(&master->eoe_timer);

   118

    master->eoe_timer.function = ec_master_eoe_run;

   119

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

   120

    master->internal_lock = SPIN_LOCK_UNLOCKED;

   121

    master->eoe_running = 0;

   122

    master->eoe_checked = 0;

   125

   126

    // create workqueue

   127

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

   128

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

   129

        goto out_return;

   130

    }

   131

   132

    // create EoE handlers

   133

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

   134

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

   135

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

   136

            goto out_clear_eoe;

   137

        }

   138

        if (ec_eoe_init(eoe)) {

   139

            kfree(eoe);

   140

            goto out_clear_eoe;

   141

        }

   142

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

   143

    }

   144

   145

    // create state machine object

   146

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

   147

   148

    // init kobject and add it to the hierarchy

   149

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

   150

    kobject_init(&master->kobj);

   151

    master->kobj.ktype = &ktype_ec_master;

   152

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

   153

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

   154

        kobject_put(&master->kobj);

   155

        return -1;

   156

    }

   157

   158

    ec_master_reset(master);

   159

    return 0;

   160

   161

 out_clear_eoe:

   162

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

   163

        list_del(&eoe->list);

   164

        ec_eoe_clear(eoe);

   165

        kfree(eoe);

   166

    }

   167

    destroy_workqueue(master->workqueue);

   168

 out_return:

   169

    return -1;

   170

}

   171

   172

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

   173

   174

/**

   175

   Master destructor.

   176

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

   177

   and frees the device.

   178

*/

   179

   180

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

   181

{

   182

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

   183

    ec_eoe_t *eoe, *next_eoe;

   184

   185

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

   186

   187

    ec_master_reset(master);

   188

    ec_fsm_clear(&master->fsm);

   189

    destroy_workqueue(master->workqueue);

   190

   191

    // clear EoE objects

   192

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

   193

        list_del(&eoe->list);

   194

        ec_eoe_clear(eoe);

   195

        kfree(eoe);

   196

    }

   197

   198

    if (master->device) {

   199

        ec_device_clear(master->device);

   200

        kfree(master->device);

   201

    }

   202

   203

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

   204

}

   205

   206

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

   207

   208

/**

   209

   Resets the master.

   210

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

   211

   called, to free the slave list, domains etc.

   212

*/

   213

   214

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

   215

{

   216

    ec_datagram_t *datagram, *next_c;

   217

    ec_domain_t *domain, *next_d;

   218

   219

    ec_master_eoe_stop(master);

   220

    ec_master_idle_stop(master);

   221

    ec_master_clear_slaves(master);

   222

   223

    // empty datagram queue

   224

    list_for_each_entry_safe(datagram, next_c,

   225

                             &master->datagram_queue, queue) {

   226

        list_del_init(&datagram->queue);

   227

        datagram->state = EC_DATAGRAM_ERROR;

   228

    }

   229

   230

    // clear domains

   231

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

   232

        list_del(&domain->list);

   233

        kobject_del(&domain->kobj);

   234

        kobject_put(&domain->kobj);

   235

    }

   236

   237

    master->datagram_index = 0;

   238

    master->debug_level = 0;

   239

   240

    master->stats.timeouts = 0;

   241

    master->stats.delayed = 0;

   242

    master->stats.corrupted = 0;

   243

    master->stats.skipped = 0;

   244

    master->stats.unmatched = 0;

   245

    master->stats.t_last = 0;

   246

   247

    master->mode = EC_MASTER_MODE_ORPHANED;

   248

   249

    master->request_cb = NULL;

   250

    master->release_cb = NULL;

   251

    master->cb_data = NULL;

   252

   253

    master->eeprom_write_enable = 0;

   254

   255

    ec_fsm_reset(&master->fsm);

   256

}

   257

   258

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

   259

   260

/**

   261

   Clears all slaves.

   262

*/

   263

   264

void ec_master_clear_slaves(ec_master_t *master)

   265

{

   266

    ec_slave_t *slave, *next_slave;

   267

   268

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

   269

        list_del(&slave->list);

   270

        kobject_del(&slave->kobj);

   271

        kobject_put(&slave->kobj);

   272

    }

   273

    master->slave_count = 0;

   274

}

   275

   276

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

   277

   278

/**

   279

   Places a datagram in the datagram queue.

   280

*/

   281

   282

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

   283

                              ec_datagram_t *datagram /**< datagram */

   284

                              )

   285

{

   286

    ec_datagram_t *queued_datagram;

   287

   288

    // check, if the datagram is already queued

   289

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

   290

        if (queued_datagram == datagram) {

   291

            master->stats.skipped++;

   292

            ec_master_output_stats(master);

   293

            datagram->state = EC_DATAGRAM_QUEUED;

   294

            return;

   295

        }

   296

    }

   297

   298

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

   299

    datagram->state = EC_DATAGRAM_QUEUED;

   300

}

   301

   302

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

   303

   304

/**

   305

   Sends the datagrams in the queue.

   306

   \return 0 in case of success, else < 0

   307

*/

   308

   309

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

   310

{

   311

    ec_datagram_t *datagram;

   312

    size_t datagram_size;

   313

    uint8_t *frame_data, *cur_data;

   314

    void *follows_word;

   315

    cycles_t t_start, t_end;

   316

    unsigned int frame_count, more_datagrams_waiting;

   317

   318

    frame_count = 0;

   319

    t_start = get_cycles();

   320

   321

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

   322

        EC_DBG("ec_master_send_datagrams\n");

   323

   324

    do {

   325

        // fetch pointer to transmit socket buffer

   326

        frame_data = ec_device_tx_data(master->device);

   327

        cur_data = frame_data + EC_FRAME_HEADER_SIZE;

   328

        follows_word = NULL;

   329

        more_datagrams_waiting = 0;

   330

   331

        // fill current frame with datagrams

   332

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

   333

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

   334

   335

            // does the current datagram fit in the frame?

   336

            datagram_size = EC_DATAGRAM_HEADER_SIZE + datagram->data_size

   337

                + EC_DATAGRAM_FOOTER_SIZE;

   338

            if (cur_data - frame_data + datagram_size > ETH_DATA_LEN) {

   339

                more_datagrams_waiting = 1;

   340

                break;

   341

            }

   342

   343

            datagram->state = EC_DATAGRAM_SENT;

   344

            datagram->t_sent = t_start;

   345

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

   346

   347

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

   348

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

   349

   350

            // set "datagram following" flag in previous frame

   351

            if (follows_word)

   352

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

   353

   354

            // EtherCAT datagram header

   355

            EC_WRITE_U8 (cur_data,     datagram->type);

   356

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

   357

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

   358

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

   359

            EC_WRITE_U16(cur_data + 8, 0x0000);

   360

            follows_word = cur_data + 6;

   361

            cur_data += EC_DATAGRAM_HEADER_SIZE;

   362

   363

            // EtherCAT datagram data

   364

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

   365

            cur_data += datagram->data_size;

   366

   367

            // EtherCAT datagram footer

   368

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

   369

            cur_data += EC_DATAGRAM_FOOTER_SIZE;

   370

        }

   371

   372

        if (cur_data - frame_data == EC_FRAME_HEADER_SIZE) {

   373

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

   374

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

   375

            break;

   376

        }

   377

   378

        // EtherCAT frame header

   379

        EC_WRITE_U16(frame_data, ((cur_data - frame_data

   380

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

   381

   382

        // pad frame

   383

        while (cur_data - frame_data < ETH_ZLEN - ETH_HLEN)

   384

            EC_WRITE_U8(cur_data++, 0x00);

   385

   386

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

   387

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

   388

   389

        // send frame

   390

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

   391

        frame_count++;

   392

    }

   393

    while (more_datagrams_waiting);

   394

   395

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

   396

        t_end = get_cycles();

   397

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

   398

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

   399

    }

   400

}

   401

   402

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

   403

   404

/**

   405

   Processes a received frame.

   406

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

   407

   \return 0 in case of success, else < 0

   408

*/

   409

   410

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

   411

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

   412

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

   413

                                 )

   414

{

   415

    size_t frame_size, data_size;

   416

    uint8_t datagram_type, datagram_index;

   417

    unsigned int cmd_follows, matched;

   418

    const uint8_t *cur_data;

   419

    ec_datagram_t *datagram;

   420

   421

    if (unlikely(size < EC_FRAME_HEADER_SIZE)) {

   422

        master->stats.corrupted++;

   423

        ec_master_output_stats(master);

   424

        return;

   425

    }

   426

   427

    cur_data = frame_data;

   428

   429

    // check length of entire frame

   430

    frame_size = EC_READ_U16(cur_data) & 0x07FF;

   431

    cur_data += EC_FRAME_HEADER_SIZE;

   432

   433

    if (unlikely(frame_size > size)) {

   434

        master->stats.corrupted++;

   435

        ec_master_output_stats(master);

   436

        return;

   437

    }

   438

   439

    cmd_follows = 1;

   440

    while (cmd_follows) {

   441

        // process datagram header

   442

        datagram_type  = EC_READ_U8 (cur_data);

   443

        datagram_index = EC_READ_U8 (cur_data + 1);

   444

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

   445

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

   446

        cur_data += EC_DATAGRAM_HEADER_SIZE;

   447

   448

        if (unlikely(cur_data - frame_data

   449

                     + data_size + EC_DATAGRAM_FOOTER_SIZE > size)) {

   450

            master->stats.corrupted++;

   451

            ec_master_output_stats(master);

   452

            return;

   453

        }

   454

   455

        // search for matching datagram in the queue

   456

        matched = 0;

   457

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

   458

            if (datagram->state == EC_DATAGRAM_SENT

   459

                && datagram->type == datagram_type

   460

                && datagram->index == datagram_index

   461

                && datagram->data_size == data_size) {

   462

                matched = 1;

   463

                break;

   464

            }

   465

        }

   466

   467

        // no matching datagram was found

   468

        if (!matched) {

   469

            master->stats.unmatched++;

   470

            ec_master_output_stats(master);

   471

            cur_data += data_size + EC_DATAGRAM_FOOTER_SIZE;

   472

            continue;

   473

        }

   474

   475

        // copy received data in the datagram memory

   476

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

   477

        cur_data += data_size;

   478

   479

        // set the datagram's working counter

   480

        datagram->working_counter = EC_READ_U16(cur_data);

   481

        cur_data += EC_DATAGRAM_FOOTER_SIZE;

   482

   483

        // dequeue the received datagram

   484

        datagram->state = EC_DATAGRAM_RECEIVED;

   485

        list_del_init(&datagram->queue);