1

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

     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

    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_clear(struct kobject *);

    58

void ec_master_destroy_domains(ec_master_t *);

    59

void ec_master_sync_io(ec_master_t *);

    60

void ec_master_idle_run(void *);

    61

void ec_master_eoe_run(unsigned long);

    62

void ec_master_check_sdo(unsigned long);

    63

int ec_master_measure_bus_time(ec_master_t *);

    64

ssize_t ec_show_master_attribute(struct kobject *, struct attribute *, char *);

    65

ssize_t ec_store_master_attribute(struct kobject *, struct attribute *,

    66

                                  const char *, size_t);

    67

    68

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

    69

    70

/** \cond */

    71

    72

EC_SYSFS_READ_ATTR(info);

    73

EC_SYSFS_READ_WRITE_ATTR(eeprom_write_enable);

    74

EC_SYSFS_READ_WRITE_ATTR(debug_level);

    75

    76

static struct attribute *ec_def_attrs[] = {

    77

    &attr_info,

    78

    &attr_eeprom_write_enable,

    79

    &attr_debug_level,

    80

    NULL,

    81

};

    82

    83

static struct sysfs_ops ec_sysfs_ops = {

    84

    .show = &ec_show_master_attribute,

    85

    .store = ec_store_master_attribute

    86

};

    87

    88

static struct kobj_type ktype_ec_master = {

    89

    .release = ec_master_clear,

    90

    .sysfs_ops = &ec_sysfs_ops,

    91

    .default_attrs = ec_def_attrs

    92

};

    93

    94

/** \endcond */

    95

    96

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

    97

    98

/**

    99

   Master constructor.

   100

   \return 0 in case of success, else < 0

   101

*/

   102

   103

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

   104

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

   105

                   unsigned int eoeif_count, /**< number of EoE interfaces */

   106

                   dev_t dev_num /**< number for XML cdev's */

   107

                   )

   108

{

   109

    ec_eoe_t *eoe, *next_eoe;

   110

    unsigned int i;

   111

   112

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

   113

   114

    atomic_set(&master->available, 1);

   115

    master->index = index;

   116

   117

    master->device = NULL;

   118

    init_MUTEX(&master->device_sem);

   119

   120

    master->mode = EC_MASTER_MODE_ORPHANED;

   121

   122

    INIT_LIST_HEAD(&master->slaves);

   123

    master->slave_count = 0;

   124

   125

    INIT_LIST_HEAD(&master->datagram_queue);

   126

    master->datagram_index = 0;

   127

   128

    INIT_LIST_HEAD(&master->domains);

   129

    master->debug_level = 0;

   130

   131

    master->stats.timeouts = 0;

   132

    master->stats.corrupted = 0;

   133

    master->stats.skipped = 0;

   134

    master->stats.unmatched = 0;

   135

    master->stats.output_jiffies = 0;

   136

   137

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

   138

   139

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

   140

        master->idle_cycle_times[i] = 0;

   141

        master->eoe_cycle_times[i] = 0;

   142

    }

   143

    master->idle_cycle_time_pos = 0;

   144

    master->eoe_cycle_time_pos = 0;

   145

   146

    init_timer(&master->eoe_timer);

   147

    master->eoe_timer.function = ec_master_eoe_run;

   148

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

   149

    master->eoe_running = 0;

   150

    master->eoe_checked = 0;

   151

    INIT_LIST_HEAD(&master->eoe_handlers);

   152

   153

    master->internal_lock = SPIN_LOCK_UNLOCKED;

   154

    master->request_cb = NULL;

   155

    master->release_cb = NULL;

   156

    master->cb_data = NULL;

   157

   158

    master->eeprom_write_enable = 0;

   159

   160

    master->sdo_request = NULL;

   161

    master->sdo_seq_user = 0;

   162

    master->sdo_seq_master = 0;

   163

    init_MUTEX(&master->sdo_sem);

   164

    init_timer(&master->sdo_timer);

   165

    master->sdo_timer.function = ec_master_check_sdo;

   166

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

   167

    init_completion(&master->sdo_complete);

   168

   169

    // create workqueue

   170

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

   171

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

   172

        goto out_return;

   173

    }

   174

   175

    // init XML character device

   176

    if (ec_xmldev_init(&master->xmldev, master, dev_num)) {

   177

        EC_ERR("Failed to init XML character device.\n");

   178

        goto out_clear_wq;

   179

    }

   180

   181

    // create EoE handlers

   182

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

   183

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

   184

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

   185

            goto out_clear_eoe;

   186

        }

   187

        if (ec_eoe_init(eoe)) {

   188

            kfree(eoe);

   189

            goto out_clear_eoe;

   190

        }

   191

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

   192

    }

   193

   194

    // create state machine object

   195

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

   196

   197

    // init kobject and add it to the hierarchy

   198

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

   199

    kobject_init(&master->kobj);

   200

    master->kobj.ktype = &ktype_ec_master;

   201

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

   202

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

   203

        kobject_put(&master->kobj);

   204

        return -1;

   205

    }

   206

   207

    return 0;

   208

   209

 out_clear_eoe:

   210

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

   211

        list_del(&eoe->list);

   212

        ec_eoe_clear(eoe);

   213

        kfree(eoe);

   214

    }

   215

    ec_xmldev_clear(&master->xmldev);

   216

 out_clear_wq:

   217

    destroy_workqueue(master->workqueue);

   218

 out_return:

   219

    return -1;

   220

}

   221

   222

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

   223

   224

/**

   225

   Master destructor.

   226

   Clears the kobj-hierarchy bottom up and frees the master.

   227

*/

   228

   229

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

   230

{

   231

    ec_master_destroy_slaves(master);

   232

    ec_master_destroy_domains(master);

   233

   234

    // destroy self

   235

    kobject_del(&master->kobj);

   236

    kobject_put(&master->kobj); // free master

   237

}

   238

   239

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

   240

   241

/**

   242

   Clear and free master.

   243

   This method is called by the kobject,

   244

   once there are no more references to it.

   245

*/

   246

   247

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

   248

{

   249

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

   250

    ec_eoe_t *eoe, *next_eoe;

   251

    ec_datagram_t *datagram, *next_c;

   252

   253

    // empty datagram queue

   254

    list_for_each_entry_safe(datagram, next_c,

   255

                             &master->datagram_queue, queue) {

   256

        datagram->state = EC_DATAGRAM_ERROR;

   257

        list_del_init(&datagram->queue);

   258

    }

   259

   260

    ec_fsm_clear(&master->fsm);

   261

    destroy_workqueue(master->workqueue);

   262

    ec_xmldev_clear(&master->xmldev);

   263

   264

    // clear EoE objects

   265

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

   266

        list_del(&eoe->list);

   267

        ec_eoe_clear(eoe);

   268

        kfree(eoe);

   269

    }

   270

   271

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

   272

   273

    kfree(master);

   274

}

   275

   276

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

   277

   278

/**

   279

   Destroy all slaves.

   280

*/

   281

   282

void ec_master_destroy_slaves(ec_master_t *master)

   283

{

   284

    ec_slave_t *slave, *next_slave;

   285

   286

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

   287

        list_del(&slave->list);

   288

        ec_slave_destroy(slave);

   289

    }

   290

   291

    master->slave_count = 0;

   292

}

   293

   294

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

   295

   296

/**

   297

   Destroy all domains.

   298

*/

   299

   300

void ec_master_destroy_domains(ec_master_t *master)

   301

{

   302

    ec_domain_t *domain, *next_d;

   303

   304

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

   305

        list_del(&domain->list);

   306

        ec_domain_destroy(domain);

   307

    }

   308

}

   309

   310

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

   311

   312

/**

   313

   Flushes the SDO request queue.

   314

*/

   315

   316

void ec_master_flush_sdo_requests(ec_master_t *master)

   317

{

   318

    del_timer_sync(&master->sdo_timer);

   319

    complete(&master->sdo_complete);

   320

    master->sdo_request = NULL;

   321

    master->sdo_seq_user = 0;

   322

    master->sdo_seq_master = 0;

   323

}

   324

   325

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

   326

   327

/**

   328

*/

   329

   330

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

   331

{

   332

    master->mode = EC_MASTER_MODE_IDLE;

   333

    queue_delayed_work(master->workqueue, &master->idle_work, 1);

   334

    return 0;

   335

}

   336

   337

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

   338

   339

/**

   340

*/

   341

   342

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

   343

{

   344

    ec_master_eoe_stop(master);

   345

   346

    master->mode = EC_MASTER_MODE_ORPHANED;

   347

    if (!cancel_delayed_work(&master->idle_work)) {

   348

        flush_workqueue(master->workqueue);

   349

    }

   350

   351

    ec_master_flush_sdo_requests(master);

   352

}

   353

   354

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

   355

   356

/**

   357

*/

   358

   359

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

   360

{

   361

    ec_slave_t *slave;

   362

    ec_datagram_t *datagram = &master->fsm.datagram;

   363

   364

    master->mode = EC_MASTER_MODE_OPERATION;

   365

    if (!cancel_delayed_work(&master->idle_work)) {

   366

        flush_workqueue(master->workqueue);

   367

    }

   368

   369

    // wait for FSM datagram

   370

    if (datagram->state == EC_DATAGRAM_SENT) {;

   371

        while (get_cycles() - datagram->cycles_sent

   372

               < (cycles_t) EC_IO_TIMEOUT /* us */ * (cpu_khz / 1000)) {}

   373

        ecrt_master_receive(master);

   374

    }

   375

   376

    // finish running FSM

   377

    while (ec_fsm_exec(&master->fsm)) {

   378

        ec_master_sync_io(master);

   379

    }

   380

   381

    if (!ec_fsm_success(&master->fsm)) {

   382

        EC_ERR("Master state machine failure!\n");

   383

        goto out_idle;

   384

    }

   385

   386

    if (master->debug_level) {

   387

        if (ec_master_measure_bus_time(master)) {

   388

            EC_ERR("Bus time measuring failed!\n");

   389

            goto out_idle;

   390

        }

   391

    }

   392

   393

    // set initial slave states

   394

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

   395

        if (ec_slave_is_coupler(slave)) {

   396

            ec_slave_request_state(slave, EC_SLAVE_STATE_OP);

   397

        }

   398

        else {

   399

            ec_slave_request_state(slave, EC_SLAVE_STATE_PREOP);

   400

        }

   401

    }

   402

   403

    return 0;

   404

   405

 out_idle:

   406

    master->mode = EC_MASTER_MODE_IDLE;

   407

    queue_delayed_work(master->workqueue, &master->idle_work, 1);

   408

    return -1;

   409

}

   410

   411

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

   412

   413

/**

   414

*/

   415

   416

void ec_master_leave_operation_mode(ec_master_t *master

   417

                                    /**< EtherCAT master */)

   418

{

   419

    ec_slave_t *slave;

   439

   440

    ec_master_destroy_domains(master);

   441

   442

    master->request_cb = NULL;

   443

    master->release_cb = NULL;

   444

    master->cb_data = NULL;

   445

   446

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

   447

        ec_slave_reset(slave);

   448

    }

   449

   450

    master->mode = EC_MASTER_MODE_IDLE;

   451

    queue_delayed_work(master->workqueue, &master->idle_work, 1);

   452

}

   453

   454

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

   455

   456

/**

   457

   Places a datagram in the datagram queue.

   458

*/

   459

   460

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

   461

                              ec_datagram_t *datagram /**< datagram */

   462

                              )

   463

{

   464

    ec_datagram_t *queued_datagram;

   465

   466

    // check, if the datagram is already queued

   467

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

   468

        if (queued_datagram == datagram) {

   469

            master->stats.skipped++;

   470

            ec_master_output_stats(master);

   471

            datagram->state = EC_DATAGRAM_QUEUED;

   472

            return;

   473

        }

   474

    }

   475

   476

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

   477

    datagram->state = EC_DATAGRAM_QUEUED;

   478

    datagram->cycles_queued = get_cycles();

   479

}

   480

   481

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

   482

   483

/**

   484

   Sends the datagrams in the queue.

   485

   \return 0 in case of success, else < 0

   486

*/

   487

   488

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

   489

{