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_destroy_domains(ec_master_t *);

    58

void ec_master_sync_io(ec_master_t *);

    59

static int ec_master_idle_thread(ec_master_t *);

    60

static int ec_master_operation_thread(ec_master_t *);

    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(debug_level);

    74

    75

static struct attribute *ec_def_attrs[] = {

    76

    &attr_info,

    77

    &attr_debug_level,

    78

    NULL,

    79

};

    80

    81

static struct sysfs_ops ec_sysfs_ops = {

    82

    .show = &ec_show_master_attribute,

    83

    .store = ec_store_master_attribute

    84

};

    85

    86

static struct kobj_type ktype_ec_master = {

    87

    .release = NULL,

    88

    .sysfs_ops = &ec_sysfs_ops,

    89

    .default_attrs = ec_def_attrs

    90

};

    91

    92

/** \endcond */

    93

    94

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

    95

    96

/**

    97

   Master constructor.

    98

   \return 0 in case of success, else < 0

    99

*/

   100

   101

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

   102

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

   103

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

   104

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

   105

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

   106

        )

   107

{

   108

    unsigned int i;

   109

   110

    master->index = index;

   111

    master->reserved = 0;

   112

   113

    master->main_mac = main_mac;

   114

    master->backup_mac = backup_mac;

   115

    init_MUTEX(&master->device_sem);

   116

   117

    master->mode = EC_MASTER_MODE_ORPHANED;

   118

    master->injection_seq_fsm = 0;

   119

    master->injection_seq_rt = 0;

   120

   121

    INIT_LIST_HEAD(&master->slaves);

   122

    master->slave_count = 0;

   123

   124

    master->scan_state = EC_REQUEST_IN_PROGRESS;

   125

    master->allow_scan = 1;

   126

    init_MUTEX(&master->scan_sem);

   127

    init_waitqueue_head(&master->scan_queue);

   128

   129

    master->config_state = EC_REQUEST_COMPLETE;

   130

    master->allow_config = 1;

   131

    init_MUTEX(&master->config_sem);

   132

    init_waitqueue_head(&master->config_queue);

   133

   134

    INIT_LIST_HEAD(&master->datagram_queue);

   135

    master->datagram_index = 0;

   136

   137

    INIT_LIST_HEAD(&master->domains);

   138

    master->debug_level = 0;

   139

   140

    master->stats.timeouts = 0;

   141

    master->stats.corrupted = 0;

   142

    master->stats.skipped = 0;

   143

    master->stats.unmatched = 0;

   144

    master->stats.output_jiffies = 0;

   145

   146

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

   147

        master->idle_cycle_times[i] = 0;

   148

        master->eoe_cycle_times[i] = 0;

   149

    }

   150

    master->idle_cycle_time_pos = 0;

   151

    master->eoe_cycle_time_pos = 0;

   152

   153

    init_timer(&master->eoe_timer);

   154

    master->eoe_timer.function = ec_master_eoe_run;

   155

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

   156

    master->eoe_running = 0;

   157

    INIT_LIST_HEAD(&master->eoe_handlers);

   158

   159

    master->internal_lock = SPIN_LOCK_UNLOCKED;

   160

    master->request_cb = NULL;

   161

    master->release_cb = NULL;

   162

    master->cb_data = NULL;

   163

   164

    INIT_LIST_HEAD(&master->eeprom_requests);

   165

    init_MUTEX(&master->eeprom_sem);

   166

    init_waitqueue_head(&master->eeprom_queue);

   167

   168

    INIT_LIST_HEAD(&master->sdo_requests);

   169

    init_MUTEX(&master->sdo_sem);

   170

    init_waitqueue_head(&master->sdo_queue);

   171

   172

    // init devices

   173

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

   174

        goto out_return;

   175

   176

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

   177

        goto out_clear_main;

   178

   179

    // init state machine datagram

   180

    ec_datagram_init(&master->fsm_datagram);

   181

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

   182

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

   183

        goto out_clear_backup;

   184

    }

   185

   186

    // create state machine object

   187

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

   188

   189

    // init kobject and add it to the hierarchy

   190

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

   191

    kobject_init(&master->kobj);

   192

    master->kobj.ktype = &ktype_ec_master;

   193

    master->kobj.parent = module_kobj;

   194

   195

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

   196

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

   197

        kobject_put(&master->kobj);

   198

        goto out_clear_fsm;

   199

    }

   200

   201

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

   202

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

   203

        kobject_put(&master->kobj);

   204

        goto out_clear_fsm;

   205

    }

   206

   207

    return 0;

   208

   209

out_clear_fsm:

   210

    ec_fsm_master_clear(&master->fsm);

   211

out_clear_backup:

   212

    ec_device_clear(&master->backup_device);

   213

out_clear_main:

   214

    ec_device_clear(&master->main_device);

   215

out_return:

   216

    return -1;

   217

}

   218

   219

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

   220

   221

/**

   222

   Clear and free master.

   223

   This method is called by the kobject,

   224

   once there are no more references to it.

   225

*/

   226

   227

void ec_master_clear(

   228

        ec_master_t *master /**< EtherCAT master */

   229

        )

   230

{

   231

    ec_master_clear_eoe_handlers(master);

   232

    ec_master_destroy_slaves(master);

   233

    ec_master_destroy_domains(master);

   234

    ec_fsm_master_clear(&master->fsm);

   235

    ec_datagram_clear(&master->fsm_datagram);

   236

    ec_device_clear(&master->backup_device);

   237

    ec_device_clear(&master->main_device);

   238

   239

    // destroy self

   240

    kobject_del(&master->kobj);

   241

    kobject_put(&master->kobj);

   242

}

   243

   244

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

   245

   246

/**

   247

 * Clear and free all EoE handlers.

   248

 */

   249

   250

void ec_master_clear_eoe_handlers(

   251

        ec_master_t *master /**< EtherCAT master */

   252

        )

   253

{

   254

    ec_eoe_t *eoe, *next;

   255

   256

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

   257

        list_del(&eoe->list);

   258

        ec_eoe_clear(eoe);

   259

        kfree(eoe);

   260

    }

   261

}

   262

   263

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

   264

   265

/**

   266

   Destroy all slaves.

   267

*/

   268

   269

void ec_master_destroy_slaves(ec_master_t *master)

   270

{

   271

    ec_slave_t *slave, *next_slave;

   272

   273

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

   274

        list_del(&slave->list);

   275

        ec_slave_destroy(slave);

   276

    }

   277

   278

    master->slave_count = 0;

   279

}

   280

   281

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

   282

   283

/**

   284

   Destroy all domains.

   285

*/

   286

   287

void ec_master_destroy_domains(ec_master_t *master)

   288

{

   289

    ec_domain_t *domain, *next_d;

   290

   291

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

   292

        list_del(&domain->list);

   293

        ec_domain_destroy(domain);

   294

    }

   295

}

   296

   297

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

   298

   299

/**

   300

   Internal locking callback.

   301

*/

   302

   303

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

   304

{

   305

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

   306

    return 0;

   307

}

   308

   309

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

   310

   311

/**

   312

   Internal unlocking callback.

   313

*/

   314

   315

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

   316

{

   317

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

   318

}

   319

   320

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

   321

   322

/**

   323

 * Starts the master thread.

   324

 */

   325

   326

int ec_master_thread_start(

   327

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

   328

        int (*thread_func)(ec_master_t *) /**< thread function to start */

   329

        )

   330

{

   331

    init_completion(&master->thread_exit);

   332

   333

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

   334

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

   335

                    master, CLONE_KERNEL)))

   336

        return -1;

   337

   338

    return 0;

   339

}

   340

   341

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

   342

   343

/**

   344

 * Stops the master thread.

   345

 */

   346

   347

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

   348

{

   349

    if (!master->thread_id) {

   350

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

   351

        return;

   352

    }

   353

   354

    kill_proc(master->thread_id, SIGTERM, 1);

   355

    wait_for_completion(&master->thread_exit);

   356

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

   357

   358

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

   359

   360

    // wait for FSM datagram

   361

    while (get_cycles() - master->fsm_datagram.cycles_sent

   362

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

   363

        schedule();

   364

}

   365

   366

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

   367

   368

/**

   369

 * Transition function from ORPHANED to IDLE mode.

   370

 */

   371

   372

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

   373

{

   374

    master->request_cb = ec_master_request_cb;

   375

    master->release_cb = ec_master_release_cb;

   376

    master->cb_data = master;

   377

   378

    master->mode = EC_MASTER_MODE_IDLE;

   379

    if (ec_master_thread_start(master, ec_master_idle_thread)) {

   380

        master->mode = EC_MASTER_MODE_ORPHANED;

   381

        return -1;

   382

    }

   383

   384

    return 0;

   385

}

   386

   387

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

   388

   389

/**

   390

 * Transition function from IDLE to ORPHANED mode.

   391

 */

   392

   393

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

   394

{

   395

    master->mode = EC_MASTER_MODE_ORPHANED;

   396

   397

    ec_master_eoe_stop(master);

   398

    ec_master_thread_stop(master);

   399

    ec_master_destroy_slaves(master);

   400

}

   401

   402

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

   403

   404

/**

   405

 * Transition function from IDLE to OPERATION mode.

   406

 */

   407

   408

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

   409

{

   410

    ec_slave_t *slave;

   411

    ec_eoe_t *eoe;

   412

   413

    down(&master->config_sem);

   414

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

   415

    up(&master->config_sem);

   416

   417

    // wait for slave configuration to complete

   418

    if (wait_event_interruptible(master->config_queue,

   419

                master->config_state != EC_REQUEST_IN_PROGRESS)) {

   420

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

   421

        goto out_allow;

   422

    }

   423

   424

    if (master->debug_level)

   425

        EC_DBG("Waiting for pending slave configuration returned.\n");

   426

   427

    down(&master->scan_sem);

   428

    master->allow_scan = 0; // 'lock' the slave list

   429

    up(&master->scan_sem);

   430

   431

    // wait for slave scan to complete

   432

    if (wait_event_interruptible(master->scan_queue,

   433

                master->scan_state != EC_REQUEST_IN_PROGRESS)) {

   434

        EC_INFO("Waiting for slave scan interrupted by signal.\n");

   435

        goto out_allow;

   436

    }

   437

   438

    if (master->debug_level)

   439

        EC_DBG("Waiting for pending slave scan returned.\n");

   440

   441

    // set states for all slaves

   442

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

   443

        ec_slave_request_state(slave, EC_SLAVE_STATE_PREOP);

   444

    }

   445

    // ... but set EoE slaves to OP

   446

    list_for_each_entry(eoe, &master->eoe_handlers, list) {

   447

        if (ec_eoe_is_open(eoe))

   448

            ec_slave_request_state(eoe->slave, EC_SLAVE_STATE_OP);

   449

    }

   450

   451

    if (master->debug_level)

   452

        EC_DBG("Switching to operation mode.\n");

   453

   454

    master->mode = EC_MASTER_MODE_OPERATION;

   455

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

   456

    master->frames_timed_out = 0;

   457

    master->ext_request_cb = NULL;

   458

    master->ext_release_cb = NULL;

   459

    master->ext_cb_data = NULL;

   460

    return 0;

   461

   462

out_allow:

   463

    master->allow_scan = 1;

   464

    master->allow_config = 1;

   465

    return -1;

   466

}

   467

   468

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

   469

   470

/**

   471

 * Transition function from OPERATION to IDLE mode.

   472

 */

   473

   474

void ec_master_leave_operation_mode(ec_master_t *master

   475

                                    /**< EtherCAT master */)

   476

{

   477

    ec_slave_t *slave;

   478

    ec_eoe_t *eoe;

   479

   480

    master->mode = EC_MASTER_MODE_IDLE;

   481

   482

    ec_master_eoe_stop(master);

   483

    ec_master_thread_stop(master);

   484

   485

    master->request_cb = ec_master_request_cb;

   486

    master->release_cb = ec_master_release_cb;

   487