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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

    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

#include <linux/device.h>

    47

#include <linux/version.h>

    48

    49

#include "globals.h"

    50

#include "slave.h"

    51

#include "slave_config.h"

    52

#include "device.h"

    53

#include "datagram.h"

    54

#ifdef EC_EOE

    55

#include "ethernet.h"

    56

#endif

    57

#include "master.h"

    58

    59

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

    60

    61

#ifdef EC_HAVE_CYCLES

    62

    63

/** Frame timeout in cycles.

    64

 */

    65

static cycles_t timeout_cycles;

    66

    67

#else

    68

    69

/** Frame timeout in jiffies.

    70

 */

    71

static unsigned long timeout_jiffies;

    72

    73

#endif

    74

    75

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

    76

    77

void ec_master_clear_slave_configs(ec_master_t *);

    78

void ec_master_clear_domains(ec_master_t *);

    79

static int ec_master_idle_thread(void *);

    80

static int ec_master_operation_thread(void *);

    81

#ifdef EC_EOE

    82

void ec_master_eoe_run(unsigned long);

    83

#endif

    84

    85

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

    86

    87

/** Static variables initializer.

    88

*/

    89

void ec_master_init_static(void)

    90

{

    91

#ifdef EC_HAVE_CYCLES

    92

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

    93

#else

    94

    // one jiffy may always elapse between time measurement

    95

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

    96

#endif

    97

}

    98

    99

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

   100

   101

/**

   102

   Master constructor.

   103

   \return 0 in case of success, else < 0

   104

*/

   105

   106

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

   107

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

   108

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

   109

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

   110

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

   111

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

   112

        )

   113

{

   114

    int ret;

   115

   116

    master->index = index;

   117

    master->reserved = 0;

   118

   119

    init_MUTEX(&master->master_sem);

   120

   121

    master->main_mac = main_mac;

   122

    master->backup_mac = backup_mac;

   123

    init_MUTEX(&master->device_sem);

   124

   125

    master->phase = EC_ORPHANED;

   126

    master->injection_seq_fsm = 0;

   127

    master->injection_seq_rt = 0;

   128

   129

    master->slaves = NULL;

   130

    master->slave_count = 0;

   131

   132

    INIT_LIST_HEAD(&master->configs);

   133

   134

    master->scan_busy = 0;

   135

    master->allow_scan = 1;

   136

    init_MUTEX(&master->scan_sem);

   137

    init_waitqueue_head(&master->scan_queue);

   138

   139

    master->config_busy = 0;

   140

    master->allow_config = 1;

   141

    init_MUTEX(&master->config_sem);

   142

    init_waitqueue_head(&master->config_queue);

   143

   144

    INIT_LIST_HEAD(&master->datagram_queue);

   145

    master->datagram_index = 0;

   146

   147

    INIT_LIST_HEAD(&master->domains);

   148

   149

    master->debug_level = 0;

   150

    master->stats.timeouts = 0;

   151

    master->stats.corrupted = 0;

   152

    master->stats.unmatched = 0;

   153

    master->stats.output_jiffies = 0;

   154

    master->frames_timed_out = 0;

   155

   156

    master->thread = NULL;

   157

   158

#ifdef EC_EOE

   159

    init_timer(&master->eoe_timer);

   160

    master->eoe_timer.function = ec_master_eoe_run;

   161

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

   162

    master->eoe_running = 0;

   163

    INIT_LIST_HEAD(&master->eoe_handlers);

   164

#endif

   165

   166

    master->internal_lock = SPIN_LOCK_UNLOCKED;

   167

    master->request_cb = NULL;

   168

    master->release_cb = NULL;

   169

    master->cb_data = NULL;

   170

   171

    INIT_LIST_HEAD(&master->sii_requests);

   172

    init_waitqueue_head(&master->sii_queue);

   173

   174

    INIT_LIST_HEAD(&master->slave_sdo_requests);

   175

    init_waitqueue_head(&master->sdo_queue);

   176

   177

    INIT_LIST_HEAD(&master->phy_requests);

   178

    init_waitqueue_head(&master->phy_queue);

   179

   180

    // init devices

   181

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

   182

    if (ret < 0)

   183

        goto out_return;

   184

   185

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

   186

    if (ret < 0)

   187

        goto out_clear_main;

   188

   189

    // init state machine datagram

   190

    ec_datagram_init(&master->fsm_datagram);

   191

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

   192

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

   193

    if (ret < 0) {

   194

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

   195

        goto out_clear_backup;

   196

    }

   197

   198

    // create state machine object

   199

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

   200

   201

    // init character device

   202

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

   203

    if (ret)

   204

        goto out_clear_fsm;

   205

   206

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

   207

    master->class_device = device_create(class, NULL,

   208

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

   209

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

   210

#elif LINUX_VERSION_CODE >= KERNEL_VERSION(2, 6, 15)

   211

    master->class_device = class_device_create(class, NULL,

   212

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

   213

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

   214

#else

   215

    master->class_device = class_device_create(class,

   216

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

   217

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

   218

#endif

   219

    if (IS_ERR(master->class_device)) {

   220

        EC_ERR("Failed to create class device!\n");

   221

        ret = PTR_ERR(master->class_device);

   222

        goto out_clear_cdev;

   223

    }

   224

   225

    return 0;

   226

   227

out_clear_cdev:

   228

    ec_cdev_clear(&master->cdev);

   229

out_clear_fsm:

   230

    ec_fsm_master_clear(&master->fsm);

   231

    ec_datagram_clear(&master->fsm_datagram);

   232

out_clear_backup:

   233

    ec_device_clear(&master->backup_device);

   234

out_clear_main:

   235

    ec_device_clear(&master->main_device);

   236

out_return:

   237

    return ret;

   238

}

   239

   240

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

   241

   242

/** Destructor.

   243

*/

   244

void ec_master_clear(

   245

        ec_master_t *master /**< EtherCAT master */

   246

        )

   247

{

   248

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

   249

    device_unregister(master->class_device);

   250

#else

   251

    class_device_unregister(master->class_device);

   252

#endif

   253

    ec_cdev_clear(&master->cdev);

   254

#ifdef EC_EOE

   255

    ec_master_clear_eoe_handlers(master);

   256

#endif

   257

    ec_master_clear_domains(master);

   258

    ec_master_clear_slave_configs(master);

   259

    ec_master_clear_slaves(master);

   260

    ec_fsm_master_clear(&master->fsm);

   261

    ec_datagram_clear(&master->fsm_datagram);

   262

    ec_device_clear(&master->backup_device);

   263

    ec_device_clear(&master->main_device);

   264

}

   265

   266

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

   267

   268

#ifdef EC_EOE

   269

/** Clear and free all EoE handlers.

   270

 */

   271

void ec_master_clear_eoe_handlers(

   272

        ec_master_t *master /**< EtherCAT master */

   273

        )

   274

{

   275

    ec_eoe_t *eoe, *next;

   276

   277

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

   278

        list_del(&eoe->list);

   279

        ec_eoe_clear(eoe);

   280

        kfree(eoe);

   281

    }

   282

}

   283

#endif

   284

   285

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

   286

   287

/** Clear all slave configurations.

   288

 */

   289

void ec_master_clear_slave_configs(ec_master_t *master)

   290

{

   291

    ec_slave_config_t *sc, *next;

   292

   293

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

   294

        list_del(&sc->list);

   295

        ec_slave_config_clear(sc);

   296

        kfree(sc);

   297

    }

   298

}

   299

   300

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

   301

   302

/** Clear all slaves.

   303

 */

   304

void ec_master_clear_slaves(ec_master_t *master)

   305

{

   306

    ec_slave_t *slave;

   307

   308

    for (slave = master->slaves;

   309

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

   310

            slave++) {

   311

        ec_slave_clear(slave);

   312

    }

   313

   314

    if (master->slaves) {

   315

        kfree(master->slaves);

   316

        master->slaves = NULL;

   317

    }

   318

   319

    master->slave_count = 0;

   320

}

   321

   322

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

   323

   324

/** Clear all domains.

   325

 */

   326

void ec_master_clear_domains(ec_master_t *master)

   327

{

   328

    ec_domain_t *domain, *next;

   329

   330

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

   331

        list_del(&domain->list);

   332

        ec_domain_clear(domain);

   333

        kfree(domain);

   334

    }

   335

}

   336

   337

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

   338

   339

/** Internal locking callback.

   340

 */

   341

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

   342

{

   343

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

   344

    return 0;

   345

}

   346

   347

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

   348

   349

/** Internal unlocking callback.

   350

 */

   351

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

   352

{

   353

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

   354

}

   355

   356

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

   357

   358

/** Starts the master thread.

   359

 *

   360

 * \retval  0 Success.

   361

 * \retval <0 Error code.

   362

 */

   363

int ec_master_thread_start(

   364

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

   365

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

   366

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

   367

        )

   368

{

   369

    EC_INFO("Starting %s thread.\n", name);

   370

    master->thread = kthread_run(thread_func, master, name);

   371

    if (IS_ERR(master->thread)) {

   372

        int err = (int) PTR_ERR(master->thread);

   373

        EC_ERR("Failed to start master thread (error %i)!\n", err);

   374

        master->thread = NULL;

   375

        return err;

   376

    }

   377

   378

    return 0;

   379

}

   380

   381

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

   382

   383

/** Stops the master thread.

   384

 */

   385

void ec_master_thread_stop(

   386

        ec_master_t *master /**< EtherCAT master */

   387

        )

   388

{

   389

    unsigned long sleep_jiffies;

   390

   391

    if (!master->thread) {

   392

        EC_WARN("ec_master_thread_stop(): Already finished!\n");

   393

        return;

   394

    }

   395

   396

    if (master->debug_level)

   397

        EC_DBG("Stopping master thread.\n");

   398

   399

    kthread_stop(master->thread);

   400

    master->thread = NULL;

   401

    EC_INFO("Master thread exited.\n");

   402

   403

    if (master->fsm_datagram.state != EC_DATAGRAM_SENT)

   404

        return;

   405

   406

    // wait for FSM datagram

   407

    sleep_jiffies = max(HZ / 100, 1); // 10 ms, at least 1 jiffy

   408

    schedule_timeout(sleep_jiffies);

   409

}

   410

   411

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

   412

   413

/** Transition function from ORPHANED to IDLE phase.

   414

 */

   415

int ec_master_enter_idle_phase(

   416

        ec_master_t *master /**< EtherCAT master */

   417

        )

   418

{

   419

    int ret;

   420

   421

    if (master->debug_level)

   422

        EC_DBG("ORPHANED -> IDLE.\n");

   423

   424

    master->request_cb = ec_master_request_cb;

   425

    master->release_cb = ec_master_release_cb;

   426

    master->cb_data = master;

   427

   428

    master->phase = EC_IDLE;

   429

    ret = ec_master_thread_start(master, ec_master_idle_thread,

   430

            "EtherCAT-IDLE");

   431

    if (ret)

   432

        master->phase = EC_ORPHANED;

   433

   434

    return ret;

   435

}

   436

   437

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

   438

   439

/** Transition function from IDLE to ORPHANED phase.

   440

 */

   441

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

   442

{

   443

    if (master->debug_level)

   444

        EC_DBG("IDLE -> ORPHANED.\n");

   445

   446

    master->phase = EC_ORPHANED;

   447

   448

#ifdef EC_EOE

   449

    ec_master_eoe_stop(master);

   450

#endif

   451

    ec_master_thread_stop(master);

   452

   453

    down(&master->master_sem);

   454

    ec_master_clear_slaves(master);

   455

    up(&master->master_sem);

   456

}

   457

   458

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

   459

   460

/** Transition function from IDLE to OPERATION phase.

   461

 */

   462

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

   463

{

   464

    int ret = 0;

   465

    ec_slave_t *slave;

   466

#ifdef EC_EOE

   467

    ec_eoe_t *eoe;

   468

#endif

   469

   470

    if (master->debug_level)

   471

        EC_DBG("IDLE -> OPERATION.\n");

   472

   473

    down(&master->config_sem);

   474

    master->allow_config = 0; // temporarily disable slave configuration

   475

    if (master->config_busy) {

   476

        up(&master->config_sem);

   477

   478

        // wait for slave configuration to complete

   479

        ret = wait_event_interruptible(master->config_queue,

   480

                    !master->config_busy);

   481

        if (ret) {

   482

            EC_INFO("Finishing slave configuration interrupted by signal.\n");

   483

            goto out_allow;