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.

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 *

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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->config_changed = 0;

   143

    master->injection_seq_fsm = 0;

   144

    master->injection_seq_rt = 0;

   145

   146

    master->slaves = NULL;

   147

    master->slave_count = 0;

   148

   149

    INIT_LIST_HEAD(&master->configs);

   150

    INIT_LIST_HEAD(&master->domains);

   151

   152

    master->app_time = 0ULL;

   153

    master->app_start_time = 0ULL;

   154

    master->has_app_time = 0;

   155

   156

    master->scan_busy = 0;

   157

    master->allow_scan = 1;

   158

    sema_init(&master->scan_sem, 1);

   159

    init_waitqueue_head(&master->scan_queue);

   160

   161

    master->config_busy = 0;

   162

    sema_init(&master->config_sem, 1);

   163

    init_waitqueue_head(&master->config_queue);

   164

   165

    INIT_LIST_HEAD(&master->datagram_queue);

   166

    master->datagram_index = 0;

   167

   168

    INIT_LIST_HEAD(&master->ext_datagram_queue);

   169

    sema_init(&master->ext_queue_sem, 1);

   170

   171

    INIT_LIST_HEAD(&master->external_datagram_queue);

   172

   173

    // send interval in IDLE phase

   174

    ec_master_set_send_interval(master, 1000000 / HZ);

   175

   176

    master->debug_level = debug_level;

   177

    master->stats.timeouts = 0;

   178

    master->stats.corrupted = 0;

   179

    master->stats.unmatched = 0;

   180

    master->stats.output_jiffies = 0;

   181

   182

    master->thread = NULL;

   183

   184

#ifdef EC_EOE

   185

    master->eoe_thread = NULL;

   186

    INIT_LIST_HEAD(&master->eoe_handlers);

   187

#endif

   188

   189

    sema_init(&master->io_sem, 1);

   190

    master->send_cb = NULL;

   191

    master->receive_cb = NULL;

   192

    master->cb_data = NULL;

   193

    master->app_send_cb = NULL;

   194

    master->app_receive_cb = NULL;

   195

    master->app_cb_data = NULL;

   196

   197

    INIT_LIST_HEAD(&master->sii_requests);

   198

    init_waitqueue_head(&master->sii_queue);

   199

   200

    INIT_LIST_HEAD(&master->reg_requests);

   201

    init_waitqueue_head(&master->reg_queue);

   202

   203

    // init devices

   204

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

   205

    if (ret < 0)

   206

        goto out_return;

   207

   208

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

   209

    if (ret < 0)

   210

        goto out_clear_main;

   211

   212

    // init state machine datagram

   213

    ec_datagram_init(&master->fsm_datagram);

   214

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

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

   216

    if (ret < 0) {

   217

        ec_datagram_clear(&master->fsm_datagram);

   218

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

   219

        goto out_clear_backup;

   220

    }

   221

   222

    // create state machine object

   223

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

   224

   225

    // init reference sync datagram

   226

    ec_datagram_init(&master->ref_sync_datagram);

   227

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

   228

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

   229

    if (ret < 0) {

   230

        ec_datagram_clear(&master->ref_sync_datagram);

   231

        EC_MASTER_ERR(master, "Failed to allocate reference"

   232

                " synchronisation datagram.\n");

   233

        goto out_clear_fsm;

   234

    }

   235

   236

    // init sync datagram

   237

    ec_datagram_init(&master->sync_datagram);

   238

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

   239

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

   240

    if (ret < 0) {

   241

        ec_datagram_clear(&master->sync_datagram);

   242

        EC_MASTER_ERR(master, "Failed to allocate"

   243

                " synchronisation datagram.\n");

   244

        goto out_clear_ref_sync;

   245

    }

   246

   247

    // init sync monitor datagram

   248

    ec_datagram_init(&master->sync_mon_datagram);

   249

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

   250

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

   251

    if (ret < 0) {

   252

        ec_datagram_clear(&master->sync_mon_datagram);

   253

        EC_MASTER_ERR(master, "Failed to allocate sync"

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                " monitoring datagram.\n");

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        goto out_clear_sync;

   256

    }

   257

   258

    ec_master_find_dc_ref_clock(master);

   259

   260

    // init character device

   261

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

   262

    if (ret)

   263

        goto out_clear_sync_mon;

   264

   265

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

   266

    master->class_device = device_create(class, NULL,

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

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

   269

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

   270

    master->class_device = device_create(class, NULL,

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

   272

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

   273

#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);

   277

#else

   278

    master->class_device = class_device_create(class,

   279

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

   280

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

   281

#endif

   282

    if (IS_ERR(master->class_device)) {

   283

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

   284

        ret = PTR_ERR(master->class_device);

   285

        goto out_clear_cdev;

   286

    }

   287

   288

    return 0;

   289

   290

out_clear_cdev:

   291

    ec_cdev_clear(&master->cdev);

   292

out_clear_sync_mon:

   293

    ec_datagram_clear(&master->sync_mon_datagram);

   294

out_clear_sync:

   295

    ec_datagram_clear(&master->sync_datagram);

   296

out_clear_ref_sync:

   297

    ec_datagram_clear(&master->ref_sync_datagram);

   298

out_clear_fsm:

   299

    ec_fsm_master_clear(&master->fsm);

   300

    ec_datagram_clear(&master->fsm_datagram);

   301

out_clear_backup:

   302

    ec_device_clear(&master->backup_device);

   303

out_clear_main:

   304

    ec_device_clear(&master->main_device);

   305

out_return:

   306

    return ret;

   307

}

   308

   309

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

   310

   311

/** Destructor.

   312

*/

   313

void ec_master_clear(

   314

        ec_master_t *master /**< EtherCAT master */

   315

        )

   316

{

   317

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

   318

    device_unregister(master->class_device);

   319

#else

   320

    class_device_unregister(master->class_device);

   321

#endif

   322

   323

    ec_cdev_clear(&master->cdev);

   324

   325

#ifdef EC_EOE

   326

    ec_master_clear_eoe_handlers(master);

   327

#endif

   328

    ec_master_clear_domains(master);

   329

    ec_master_clear_slave_configs(master);

   330

    ec_master_clear_slaves(master);

   331

   332

    ec_datagram_clear(&master->sync_mon_datagram);

   333

    ec_datagram_clear(&master->sync_datagram);

   334

    ec_datagram_clear(&master->ref_sync_datagram);

   335

    ec_fsm_master_clear(&master->fsm);

   336

    ec_datagram_clear(&master->fsm_datagram);

   337

    ec_device_clear(&master->backup_device);

   338

    ec_device_clear(&master->main_device);

   339

}

   340

   341

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

   342

   343

#ifdef EC_EOE

   344

/** Clear and free all EoE handlers.

   345

 */

   346

void ec_master_clear_eoe_handlers(

   347

        ec_master_t *master /**< EtherCAT master */

   348

        )

   349

{

   350

    ec_eoe_t *eoe, *next;

   351

   352

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

   353

        list_del(&eoe->list);

   354

        ec_eoe_clear(eoe);

   355

        kfree(eoe);

   356

    }

   357

}

   358

#endif

   359

   360

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

   361

   362

/** Clear all slave configurations.

   363

 */

   364

void ec_master_clear_slave_configs(ec_master_t *master)

   365

{

   366

    ec_slave_config_t *sc, *next;

   367

   368

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

   369

        list_del(&sc->list);

   370

        ec_slave_config_clear(sc);

   371

        kfree(sc);

   372

    }

   373

}

   374

   375

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

   376

   377

/** Clear all slaves.

   378

 */

   379

void ec_master_clear_slaves(ec_master_t *master)

   380

{

   381

    ec_slave_t *slave;

   382

   383

    master->dc_ref_clock = NULL;

   384

   385

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

   386

    // them from the list

   387

   388

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

   389

        ec_sii_write_request_t *request =

   390

            list_entry(master->sii_requests.next,

   391

                    ec_sii_write_request_t, list);

   392

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

   393

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

   394

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

   395

        request->state = EC_INT_REQUEST_FAILURE;

   396

        wake_up(&master->sii_queue);

   397

    }

   398

   399

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

   400

        ec_reg_request_t *request =

   401

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

   402

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

   403

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

   404

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

   405

        request->state = EC_INT_REQUEST_FAILURE;

   406

        wake_up(&master->reg_queue);

   407

    }

   408

   409

    for (slave = master->slaves;

   410

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

   411

            slave++) {

   412

        ec_slave_clear(slave);

   413

    }

   414

   415

    if (master->slaves) {

   416

        kfree(master->slaves);

   417

        master->slaves = NULL;

   418

    }

   419

   420

    master->slave_count = 0;

   421

}

   422

   423

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

   424

   425

/** Clear all domains.

   426

 */

   427

void ec_master_clear_domains(ec_master_t *master)

   428

{

   429

    ec_domain_t *domain, *next;

   430

   431

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

   432

        list_del(&domain->list);

   433

        ec_domain_clear(domain);

   434

        kfree(domain);

   435

    }

   436

}

   437

   438

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

   439

   440

/** Clear the configuration applied by the application.

   441

 */

   442

void ec_master_clear_config(

   443

        ec_master_t *master /**< EtherCAT master. */

   444

        )

   445

{

   446

    down(&master->master_sem);

   447

    ec_master_clear_domains(master);

   448

    ec_master_clear_slave_configs(master);

   449

    up(&master->master_sem);

   450

}

   451

   452

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

   453

   454

/** Internal sending callback.

   455

 */

   456

void ec_master_internal_send_cb(

   457

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

   458

        )

   459

{

   460

    ec_master_t *master = (ec_master_t *) cb_data;

   461

    down(&master->io_sem);

   462

    ecrt_master_send_ext(master);

   463

    up(&master->io_sem);

   464

}

   465

   466

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

   467

   468

/** Internal receiving callback.

   469

 */

   470

void ec_master_internal_receive_cb(

   471

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

   472

        )

   473

{

   474

    ec_master_t *master = (ec_master_t *) cb_data;

   475

    down(&master->io_sem);

   476

    ecrt_master_receive(master);

   477

    up(&master->io_sem);

   478

}

   479

   480

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

   481

   482