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

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 *

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 *  $Id$

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 *

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 *  Copyright (C) 2006  Florian Pose, Ingenieurgemeinschaft IgH

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 *

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 *  This file is part of the IgH EtherCAT Master.

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 *

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 *  The IgH EtherCAT Master is free software; you can redistribute it

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 *  and/or modify it under the terms of the GNU General Public License

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 *  as published by the Free Software Foundation; either version 2 of the

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 *  License, or (at your option) any later version.

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 *

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 *  The IgH EtherCAT Master is distributed in the hope that it will be

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 *  useful, but WITHOUT ANY WARRANTY; without even the implied warranty of

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 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

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 *  GNU General Public License for more details.

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 *

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 *  You should have received a copy of the GNU General Public License

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 *  along with the IgH EtherCAT Master; if not, write to the Free Software

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 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA

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 *

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 *  The right to use EtherCAT Technology is granted and comes free of

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 *  charge under condition of compatibility of product made by

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

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 *  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

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 *  EtherCAT specification (which are released themselves as an open

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

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/**

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   \file

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   EtherCAT master methods.

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*/

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

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    41

#include <linux/module.h>

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#include <linux/kernel.h>

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#include <linux/string.h>

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#include <linux/slab.h>

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#include <linux/delay.h>

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#include "../include/ecrt.h"

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#include "globals.h"

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#include "master.h"

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#include "slave.h"

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#include "device.h"

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#include "datagram.h"

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#include "ethernet.h"

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    55

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

    56

    57

void ec_master_destroy_domains(ec_master_t *);

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void ec_master_sync_io(ec_master_t *);

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static int ec_master_idle_thread(ec_master_t *);

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static int ec_master_operation_thread(ec_master_t *);

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void ec_master_eoe_run(unsigned long);

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void ec_master_check_sdo(unsigned long);

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int ec_master_measure_bus_time(ec_master_t *);

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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 *,

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                                  const char *, size_t);

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    68

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

    69

    70

/** \cond */

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    72

EC_SYSFS_READ_ATTR(info);

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EC_SYSFS_READ_WRITE_ATTR(debug_level);

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    75

static struct attribute *ec_def_attrs[] = {

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    &attr_info,

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    &attr_debug_level,

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    NULL,

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};

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static struct sysfs_ops ec_sysfs_ops = {

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    .show = &ec_show_master_attribute,

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    .store = ec_store_master_attribute

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};

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static struct kobj_type ktype_ec_master = {

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    .release = NULL,

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    .sysfs_ops = &ec_sysfs_ops,

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    .default_attrs = ec_def_attrs

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};

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/** \endcond */

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

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    96

/**

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   Master constructor.

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   \return 0 in case of success, else < 0

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*/

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   101

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

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        struct kobject *module_kobj, /**< kobject of the master module */

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

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

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

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        )

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{

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    ec_eoe_t *eoe, *next_eoe;

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    unsigned int i;

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   111

    master->index = index;

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    master->reserved = 0;

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    master->main_mac = main_mac;

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    master->backup_mac = backup_mac;

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    init_MUTEX(&master->device_sem);

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   118

    master->mode = EC_MASTER_MODE_ORPHANED;

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    master->injection_seq_fsm = 0;

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    master->injection_seq_rt = 0;

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   122

    INIT_LIST_HEAD(&master->slaves);

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    master->slave_count = 0;

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    INIT_LIST_HEAD(&master->datagram_queue);

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    master->datagram_index = 0;

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    INIT_LIST_HEAD(&master->domains);

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    master->debug_level = 0;

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    master->stats.timeouts = 0;

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    master->stats.corrupted = 0;

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    master->stats.skipped = 0;

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    master->stats.unmatched = 0;

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    master->stats.output_jiffies = 0;

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

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        master->idle_cycle_times[i] = 0;

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        master->eoe_cycle_times[i] = 0;

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    }

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    master->idle_cycle_time_pos = 0;

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    master->eoe_cycle_time_pos = 0;

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    init_timer(&master->eoe_timer);

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    master->eoe_timer.function = ec_master_eoe_run;

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

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    master->eoe_running = 0;

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    master->eoe_checked = 0;

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    INIT_LIST_HEAD(&master->eoe_handlers);

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    master->internal_lock = SPIN_LOCK_UNLOCKED;

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    master->request_cb = NULL;

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    master->release_cb = NULL;

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    master->cb_data = NULL;

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    INIT_LIST_HEAD(&master->eeprom_requests);

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    init_MUTEX(&master->eeprom_sem);

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    init_waitqueue_head(&master->eeprom_queue);

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    INIT_LIST_HEAD(&master->sdo_requests);

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    init_MUTEX(&master->sdo_sem);

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    init_waitqueue_head(&master->sdo_queue);

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    // init devices

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    if (ec_device_init(&master->main_device, master))

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        goto out_return;

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    if (ec_device_init(&master->backup_device, master))

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        goto out_clear_main;

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   181

    // init state machine datagram

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    ec_datagram_init(&master->fsm_datagram);

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    if (ec_datagram_prealloc(&master->fsm_datagram, EC_MAX_DATA_SIZE)) {

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        EC_ERR("Failed to allocate FSM datagram.\n");

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        goto out_clear_eoe;

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    }

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    // create state machine object

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

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    // init kobject and add it to the hierarchy

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

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    kobject_init(&master->kobj);

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    master->kobj.ktype = &ktype_ec_master;

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    master->kobj.parent = module_kobj;

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

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

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        kobject_put(&master->kobj);

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        return -1;

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    }

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    if (kobject_add(&master->kobj)) {

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        EC_ERR("Failed to add master kobject.\n");

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        kobject_put(&master->kobj);

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        return -1;

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    }

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    return 0;

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out_clear_eoe:

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

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        list_del(&eoe->list);

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        ec_eoe_clear(eoe);

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        kfree(eoe);

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    }

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    ec_device_clear(&master->backup_device);

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out_clear_main:

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    ec_device_clear(&master->main_device);

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out_return:

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    return -1;

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}

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

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   226

/**

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   Clear and free master.

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   This method is called by the kobject,

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   once there are no more references to it.

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*/

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   232

void ec_master_clear(

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        ec_master_t *master /**< EtherCAT master */

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        )

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{

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    ec_eoe_t *eoe, *next_eoe;

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    ec_datagram_t *datagram, *next_datagram;

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    ec_master_destroy_slaves(master);

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    ec_master_destroy_domains(master);

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    // list of EEPROM requests is empty,

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    // otherwise master could not be cleared.

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    // dequeue all datagrams

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    list_for_each_entry_safe(datagram, next_datagram,

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                             &master->datagram_queue, queue) {

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        datagram->state = EC_DATAGRAM_ERROR;

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        list_del_init(&datagram->queue);

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    }

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   252

    ec_fsm_master_clear(&master->fsm);

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    ec_datagram_clear(&master->fsm_datagram);

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    // clear EoE objects

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

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        list_del(&eoe->list);

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        ec_eoe_clear(eoe);

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        kfree(eoe);

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    }

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    ec_device_clear(&master->backup_device);

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    ec_device_clear(&master->main_device);

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    // destroy self

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    kobject_del(&master->kobj);

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    kobject_put(&master->kobj);

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   269

    EC_INFO("Master %u freed.\n", master->index);

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}

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

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/**

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   Destroy all slaves.

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*/

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   278

void ec_master_destroy_slaves(ec_master_t *master)

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{

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    ec_slave_t *slave, *next_slave;

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

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        list_del(&slave->list);

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        ec_slave_destroy(slave);

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    }

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   287

    master->slave_count = 0;

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}

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

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   292

/**

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   Destroy all domains.

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*/

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   296

void ec_master_destroy_domains(ec_master_t *master)

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{

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    ec_domain_t *domain, *next_d;

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

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        list_del(&domain->list);

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        ec_domain_destroy(domain);

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    }

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}

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

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   308

/**

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   Internal locking callback.

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*/

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   312

int ec_master_request_cb(void *master /**< callback data */)

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{

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    spin_lock(&((ec_master_t *) master)->internal_lock);

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    return 0;

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}

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   318

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

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   320

/**

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   Internal unlocking callback.

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*/

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   324

void ec_master_release_cb(void *master /**< callback data */)

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{

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    spin_unlock(&((ec_master_t *) master)->internal_lock);

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}

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

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   331

/**

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 * Starts the master thread.

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    init_completion(&master->thread_exit);

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   342

    EC_INFO("Starting master thread.\n");

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    if (!(master->thread_id = kernel_thread((int (*)(void *)) thread_func,

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                    master, CLONE_KERNEL)))

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        return -1;

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   347

    return 0;

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}

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   350

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

   351

   352

/**

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 * Stops the master thread.

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   356

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

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{

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}

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   375

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

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   377

/**

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 * Transition function from ORPHANED to IDLE mode.

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   381

int ec_master_enter_idle_mode(ec_master_t *master /**< EtherCAT master */)

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{

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    master->request_cb = ec_master_request_cb;

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    master->release_cb = ec_master_release_cb;

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    master->cb_data = master;

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   387

    master->mode = EC_MASTER_MODE_IDLE;

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        master->mode = EC_MASTER_MODE_ORPHANED;

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        return -1;

   391

    }

   392

   393

    return 0;

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}

   395

   396

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

   397

   398

/**

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 * Transition function from IDLE to ORPHANED mode.

   401

   402

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

   403

{

   404

    master->mode = EC_MASTER_MODE_ORPHANED;

   405

   406

    ec_master_eoe_stop(master);

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    ec_master_thread_stop(master);

   408

    ec_master_destroy_slaves(master);

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}

   410

   411

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

   412

   413

/**

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 * Transition function from IDLE to OPERATION mode.

   416

   417

int ec_master_enter_operation_mode(ec_master_t *master /**< EtherCAT master */)

   418

{

   419

    ec_slave_t *slave;

   420

   450

    list_for_each_entry(slave, &master->slaves, list) {

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        ec_slave_request_state(slave, EC_SLAVE_STATE_PREOP);

   452

    }

   453

   458

    master->pdo_slaves_offline = 0; // assume all PDO slaves online

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    return 0;

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    return -1;

   465

}

   466

   467

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

   468

   469

/**

   470

 * Transition function from OPERATION to IDLE mode.

   472

   473

void ec_master_leave_operation_mode(ec_master_t *master

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                                    /**< EtherCAT master */)

   475

{

   476

    ec_slave_t *slave;

   486

   487