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

     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.

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 *

    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 fsm datagram injection debugging.

    60

 */

    61

#ifdef USE_TRACE_PRINTK

    62

#define DEBUG_INJECT 1

    63

#else

    64

#define DEBUG_INJECT 0

    65

#endif

    66

    67

#ifdef EC_HAVE_CYCLES

    68

    69

/** Frame timeout in cycles.

    70

 */

    71

static cycles_t timeout_cycles;

    72

    73

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

    74

 */

    75

static cycles_t fsm_injection_timeout_cycles;

    76

    77

#else

    78

    79

/** Frame timeout in jiffies.

    80

 */

    81

static unsigned long timeout_jiffies;

    82

    83

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

    84

 */

    85

static unsigned long fsm_injection_timeout_jiffies;

    86

    87

#endif

    88

    89

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

    90

    91

void ec_master_clear_slave_configs(ec_master_t *);

    92

void ec_master_clear_domains(ec_master_t *);

    93

static int ec_master_idle_thread(void *);

    94

static int ec_master_operation_thread(void *);

    95

#ifdef EC_EOE

    96

static int ec_master_eoe_processing(ec_master_t *);

    97

#endif

    98

void ec_master_find_dc_ref_clock(ec_master_t *);

    99

   100

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

   101

   102

/** Static variables initializer.

   103

*/

   104

void ec_master_init_static(void)

   105

{

   106

#ifdef EC_HAVE_CYCLES

   107

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

   108

    fsm_injection_timeout_cycles = (cycles_t) EC_FSM_INJECTION_TIMEOUT /* us */ * (cpu_khz / 1000);

   109

#else

   110

    // one jiffy may always elapse between time measurement

   111

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

   112

    fsm_injection_timeout_jiffies = max(EC_FSM_INJECTION_TIMEOUT * HZ / 1000000, 1);

   113

#endif

   114

}

   115

   116

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

   117

   118

/**

   119

   Master constructor.

   120

   \return 0 in case of success, else < 0

   121

*/

   122

   123

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

   124

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

   125

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

   126

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

   127

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

   128

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

   129

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

   130

        )

   131

{

   132

    int ret;

   133

   134

    master->index = index;

   135

    master->reserved = 0;

   136

   137

    ec_mutex_init(&master->master_mutex);

   138

   139

    master->main_mac = main_mac;

   140

    master->backup_mac = backup_mac;

   141

   142

    ec_mutex_init(&master->device_mutex);

   143

   144

    master->phase = EC_ORPHANED;

   145

    master->active = 0;

   146

    master->config_changed = 0;

   147

    master->injection_seq_fsm = 0;

   148

    master->injection_seq_rt = 0;

   149

   150

    master->slaves = NULL;

   151

    master->slave_count = 0;

   152

   153

    INIT_LIST_HEAD(&master->configs);

   154

   155

    master->app_time = 0ULL;

   156

#ifdef EC_HAVE_CYCLES

   157

    master->dc_cycles_app_start_time = 0;

   158

#endif

   159

    master->dc_jiffies_app_start_time = 0;

   160

    master->app_start_time = 0ULL;

   161

    master->has_app_time = 0;

   162

   163

    master->scan_busy = 0;

   164

    master->allow_scan = 1;

   165

    ec_mutex_init(&master->scan_mutex);

   166

    init_waitqueue_head(&master->scan_queue);

   167

   168

    master->config_busy = 0;

   169

    master->allow_config = 1;

   170

    ec_mutex_init(&master->config_mutex);

   171

    init_waitqueue_head(&master->config_queue);

   172

   173

    INIT_LIST_HEAD(&master->datagram_queue);

   174

    master->datagram_index = 0;

   175

   176

    ec_mutex_init(&master->fsm_queue_mutex);

   177

    INIT_LIST_HEAD(&master->fsm_datagram_queue);

   178

   179

    // send interval in IDLE phase

   180

    ec_master_set_send_interval(master, 1000000 / HZ);

   181

   182

    INIT_LIST_HEAD(&master->domains);

   183

   184

    master->debug_level = debug_level;

   185

    master->stats.timeouts = 0;

   186

    master->stats.corrupted = 0;

   187

    master->stats.unmatched = 0;

   188

    master->stats.output_jiffies = 0;

   189

   190

    master->thread = NULL;

   191

   192

#ifdef EC_EOE

   193

    master->eoe_thread = NULL;

   194

    INIT_LIST_HEAD(&master->eoe_handlers);

   195

#endif

   196

   197

    ec_mutex_init(&master->io_mutex);

   198

    master->fsm_queue_lock_cb = NULL;

   199

    master->fsm_queue_unlock_cb = NULL;

   200

    master->fsm_queue_locking_data = NULL;

   201

    master->app_fsm_queue_lock_cb = NULL;

   202

    master->app_fsm_queue_unlock_cb = NULL;

   203

    master->app_fsm_queue_locking_data = NULL;

   204

   205

    INIT_LIST_HEAD(&master->sii_requests);

   206

    init_waitqueue_head(&master->sii_queue);

   207

   208

    INIT_LIST_HEAD(&master->reg_requests);

   209

    init_waitqueue_head(&master->reg_queue);

   210

   211

    // init devices

   212

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

   213

    if (ret < 0)

   214

        goto out_return;

   215

   216

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

   217

    if (ret < 0)

   218

        goto out_clear_main;

   219

   220

    // init state machine datagram

   221

    ec_datagram_init(&master->fsm_datagram);

   222

    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);

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    if (ret < 0) {

   225

        ec_datagram_clear(&master->fsm_datagram);

   226

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

   227

        goto out_clear_backup;

   228

    }

   229

   230

    // create state machine object

   231

    ec_mbox_init(&master->fsm_mbox,&master->fsm_datagram);

   232

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

   233

   234

    // init reference sync datagram

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    ec_datagram_init(&master->ref_sync_datagram);

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

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

   238

    if (ret < 0) {

   239

        ec_datagram_clear(&master->ref_sync_datagram);

   240

        EC_MASTER_ERR(master, "Failed to allocate reference"

   241

                " synchronisation datagram.\n");

   242

        goto out_clear_fsm;

   243

    }

   244

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    // init sync datagram

   246

    ec_datagram_init(&master->sync_datagram);

   247

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

   248

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

   249

    if (ret < 0) {

   250

        ec_datagram_clear(&master->sync_datagram);

   251

        EC_MASTER_ERR(master, "Failed to allocate"

   252

                " synchronisation datagram.\n");

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        goto out_clear_ref_sync;

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    }

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    // init sync monitor datagram

   257

    ec_datagram_init(&master->sync_mon_datagram);

   258

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

   259

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

   260

    if (ret < 0) {

   261

        ec_datagram_clear(&master->sync_mon_datagram);

   262

        EC_MASTER_ERR(master, "Failed to allocate sync"

   263

                " monitoring datagram.\n");

   264

        goto out_clear_sync;

   265

    }

   266

   267

    ec_master_find_dc_ref_clock(master);

   268

   269

    // init character device

   270

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

   271

    if (ret)

   272

        goto out_clear_sync_mon;

   273

   274

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

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    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);

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

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    master->class_device = device_create(class, NULL,

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

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

   282

#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);

   286

#else

   287

    master->class_device = class_device_create(class,

   288

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

   289

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

   290

#endif

   291

    if (IS_ERR(master->class_device)) {

   292

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

   293

        ret = PTR_ERR(master->class_device);

   294

        goto out_clear_cdev;

   295

    }

   296

   297

    return 0;

   298

   299

out_clear_cdev:

   300

    ec_cdev_clear(&master->cdev);

   301

out_clear_sync_mon:

   302

    ec_datagram_clear(&master->sync_mon_datagram);

   303

out_clear_sync:

   304

    ec_datagram_clear(&master->sync_datagram);

   305

out_clear_ref_sync:

   306

    ec_datagram_clear(&master->ref_sync_datagram);

   307

out_clear_fsm:

   308

    ec_fsm_master_clear(&master->fsm);

   309

    ec_datagram_clear(&master->fsm_datagram);

   310

out_clear_backup:

   311

    ec_device_clear(&master->backup_device);

   312

out_clear_main:

   313

    ec_device_clear(&master->main_device);

   314

out_return:

   315

    return ret;

   316

}

   317

   318

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

   319

   320

/** Destructor.

   321

*/

   322

void ec_master_clear(

   323

        ec_master_t *master /**< EtherCAT master */

   324

        )

   325

{

   326

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

   327

    device_unregister(master->class_device);

   328

#else

   329

    class_device_unregister(master->class_device);

   330

#endif

   331

   332

    ec_cdev_clear(&master->cdev);

   333

   334

#ifdef EC_EOE

   335

    ec_master_clear_eoe_handlers(master);

   336

#endif

   337

    ec_master_clear_domains(master);

   338

    ec_master_clear_slave_configs(master);

   339

    ec_master_clear_slaves(master);

   340

   341

    ec_datagram_clear(&master->sync_mon_datagram);

   342

    ec_datagram_clear(&master->sync_datagram);

   343

    ec_datagram_clear(&master->ref_sync_datagram);

   344

    ec_fsm_master_clear(&master->fsm);

   345

    ec_mbox_clear(&master->fsm_mbox);

   346

    ec_datagram_clear(&master->fsm_datagram);

   347

    ec_device_clear(&master->backup_device);

   348

    ec_device_clear(&master->main_device);

   349

}

   350

   351

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

   352

   353

#ifdef EC_EOE

   354

/** Clear and free all EoE handlers.

   355

 */

   356

void ec_master_clear_eoe_handlers(

   357

        ec_master_t *master /**< EtherCAT master */

   358

        )

   359

{

   360

    ec_eoe_t *eoe, *next;

   361

   362

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

   363

        list_del(&eoe->list);

   364

        ec_eoe_clear(eoe);

   365

        kfree(eoe);

   366

    }

   367

}

   368

#endif

   369

   370

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

   371

   372

/** Clear all slave configurations.

   373

 */

   374

void ec_master_clear_slave_configs(ec_master_t *master)

   375

{

   376

    ec_slave_config_t *sc, *next;

   377

   378

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

   379

        list_del(&sc->list);

   380

        ec_slave_config_clear(sc);

   381

        kfree(sc);

   382

    }

   383

}

   384

   385

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

   386

   387

/** Clear all slaves.

   388

 */

   389

void ec_master_clear_slaves(ec_master_t *master)

   390

{

   391

    ec_slave_t *slave;

   392

   393

    master->dc_ref_clock = NULL;

   394

   395

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

   396

    // them from the list

   397

   398

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

   399

        ec_sii_write_request_t *request =

   400

            list_entry(master->sii_requests.next,

   401

                    ec_sii_write_request_t, list);

   402

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

   403

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

   404

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

   405

        request->state = EC_INT_REQUEST_FAILURE;

   406

        kref_put(&request->refcount,ec_master_sii_write_request_release);

   407

        wake_up(&master->sii_queue);

   408

    }

   409

   410

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

   411

        ec_reg_request_t *request =

   412

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

   413

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

   414

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

   415

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

   416

        request->state = EC_INT_REQUEST_FAILURE;

   417

        kref_put(&request->refcount,ec_master_reg_request_release);

   418

        wake_up(&master->reg_queue);

   419

    }

   420

   421

    // we must lock the io_mutex here because the slave's fsm_datagram will be unqueued

   422

    ec_mutex_lock(&master->io_mutex);

   423

    for (slave = master->slaves;

   424

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

   425

            slave++) {

   426

        ec_slave_clear(slave);

   427

    }

   428

    ec_mutex_unlock(&master->io_mutex);

   429

   430

    if (master->slaves) {

   431

        kfree(master->slaves);

   432

        master->slaves = NULL;

   433

    }

   434

   435

    master->slave_count = 0;

   436

}

   437

   438

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

   439

   440

/** Clear all domains.

   441

 */

   442

void ec_master_clear_domains(ec_master_t *master)

   443

{

   444

    ec_domain_t *domain, *next;

   445

   446

    // we must lock the io_mutex here because the domains's datagram will be unqueued

   447

    ec_mutex_lock(&master->io_mutex);

   448

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

   449

        list_del(&domain->list);

   450

        ec_domain_clear(domain);

   451

        kfree(domain);

   452

    }

   453

    ec_mutex_unlock(&master->io_mutex);

   454

}

   455

   456

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

   457

   458

/** Clear the configuration applied by the application.

   459

 */

   460

void ec_master_clear_config(

   461

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

   462

        )

   463

{

   464

    ec_mutex_lock(&master->master_mutex);

   465

    ec_master_clear_domains(master);

   466

    ec_master_clear_slave_configs(master);

   467

    ec_mutex_unlock(&master->master_mutex);

   468

}

   469

   470

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

   471

   472

/** Starts the master thread.

   473

 *

   474

 * \retval  0 Success.

   475

 * \retval <0 Error code.

   476

 */

   477

int ec_master_thread_start(

   478

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

   479

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

   480

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