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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

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 *  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.

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 *

    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

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

    26

 *  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

    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.

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 *

    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

#ifdef EC_EOE

    54

#include "ethernet.h"

    55

#endif

    56

    57

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

    58

    59

void ec_master_destroy_domains(ec_master_t *);

    60

void ec_master_sync_io(ec_master_t *);

    61

static int ec_master_idle_thread(ec_master_t *);

    62

static int ec_master_operation_thread(ec_master_t *);

    63

#ifdef EC_EOE

    64

void ec_master_eoe_run(unsigned long);

    65

#endif

    66

void ec_master_check_sdo(unsigned long);

    67

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

    68

ssize_t ec_store_master_attribute(struct kobject *, struct attribute *,

    69

                                  const char *, size_t);

    70

    71

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

    72

    73

/** \cond */

    74

    75

EC_SYSFS_READ_ATTR(info);

    76

EC_SYSFS_READ_WRITE_ATTR(debug_level);

    77

    78

static struct attribute *ec_def_attrs[] = {

    79

    &attr_info,

    80

    &attr_debug_level,

    81

    NULL,

    82

};

    83

    84

static struct sysfs_ops ec_sysfs_ops = {

    85

    .show = &ec_show_master_attribute,

    86

    .store = ec_store_master_attribute

    87

};

    88

    89

static struct kobj_type ktype_ec_master = {

    90

    .release = NULL,

    91

    .sysfs_ops = &ec_sysfs_ops,

    92

    .default_attrs = ec_def_attrs

    93

};

    94

    95

/** \endcond */

    96

    97

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

    98

    99

/**

   100

   Master constructor.

   101

   \return 0 in case of success, else < 0

   102

*/

   103

   104

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

   105

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

   106

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

   107

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

   108

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

   109

        )

   110

{

   111

    unsigned int i;

   112

   113

    master->index = index;

   114

    master->reserved = 0;

   115

   116

    master->main_mac = main_mac;

   117

    master->backup_mac = backup_mac;

   118

    init_MUTEX(&master->device_sem);

   119

   120

    master->mode = EC_MASTER_MODE_ORPHANED;

   121

    master->injection_seq_fsm = 0;

   122

    master->injection_seq_rt = 0;

   123

   124

    INIT_LIST_HEAD(&master->slaves);

   125

    master->slave_count = 0;

   126

   127

    master->scan_state = EC_REQUEST_IN_PROGRESS;

   128

    master->allow_scan = 1;

   129

    init_MUTEX(&master->scan_sem);

   130

    init_waitqueue_head(&master->scan_queue);

   131

   132

    master->config_state = EC_REQUEST_COMPLETE;

   133

    master->allow_config = 1;

   134

    init_MUTEX(&master->config_sem);

   135

    init_waitqueue_head(&master->config_queue);

   136

   137

    INIT_LIST_HEAD(&master->datagram_queue);

   138

    master->datagram_index = 0;

   139

   140

    INIT_LIST_HEAD(&master->domains);

   141

    master->debug_level = 0;

   142

   143

    master->stats.timeouts = 0;

   144

    master->stats.corrupted = 0;

   145

    master->stats.unmatched = 0;

   146

    master->stats.output_jiffies = 0;

   147

   148

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

   149

        master->idle_cycle_times[i] = 0;

   150

#ifdef EC_EOE

   151

        master->eoe_cycle_times[i] = 0;

   152

#endif

   153

    }

   154

    master->idle_cycle_time_pos = 0;

   155

#ifdef EC_EOE

   156

    master->eoe_cycle_time_pos = 0;

   157

   158

    init_timer(&master->eoe_timer);

   159

    master->eoe_timer.function = ec_master_eoe_run;

   160

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

   161

    master->eoe_running = 0;

   162

    INIT_LIST_HEAD(&master->eoe_handlers);

   163

#endif

   164

   165

    master->internal_lock = SPIN_LOCK_UNLOCKED;

   166

    master->request_cb = NULL;

   167

    master->release_cb = NULL;

   168

    master->cb_data = NULL;

   169

   170

    INIT_LIST_HEAD(&master->eeprom_requests);

   171

    init_MUTEX(&master->eeprom_sem);

   172

    init_waitqueue_head(&master->eeprom_queue);

   173

   174

    INIT_LIST_HEAD(&master->sdo_requests);

   175

    init_MUTEX(&master->sdo_sem);

   176

    init_waitqueue_head(&master->sdo_queue);

   177

   178

    // init devices

   179

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

   180

        goto out_return;

   181

   182

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

   183

        goto out_clear_main;

   184

   185

    // init state machine datagram

   186

    ec_datagram_init(&master->fsm_datagram);

   187

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

   188

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

   189

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

   190

        goto out_clear_backup;

   191

    }

   192

   193

    // create state machine object

   194

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

   195

   196

    // init kobject and add it to the hierarchy

   197

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

   198

    kobject_init(&master->kobj);

   199

    master->kobj.ktype = &ktype_ec_master;

   200

    master->kobj.parent = module_kobj;

   201

   202

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

   203

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

   204

        kobject_put(&master->kobj);

   205

        goto out_clear_fsm;

   206

    }

   207

   208

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

   209

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

   210

        kobject_put(&master->kobj);

   211

        goto out_clear_fsm;

   212

    }

   213

   214

    return 0;

   215

   216

out_clear_fsm:

   217

    ec_fsm_master_clear(&master->fsm);

   218

out_clear_backup:

   219

    ec_device_clear(&master->backup_device);

   220

out_clear_main:

   221

    ec_device_clear(&master->main_device);

   222

out_return:

   223

    return -1;

   224

}

   225

   226

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

   227

   228

/**

   229

   Clear and free master.

   230

   This method is called by the kobject,

   231

   once there are no more references to it.

   232

*/

   233

   234

void ec_master_clear(

   235

        ec_master_t *master /**< EtherCAT master */

   236

        )

   237

{

   238

#ifdef EC_EOE

   239

    ec_master_clear_eoe_handlers(master);

   240

#endif

   241

    ec_master_destroy_slaves(master);

   242

    ec_master_destroy_domains(master);

   243

    ec_fsm_master_clear(&master->fsm);

   244

    ec_datagram_clear(&master->fsm_datagram);

   245

    ec_device_clear(&master->backup_device);

   246

    ec_device_clear(&master->main_device);

   247

   248

    // destroy self

   249

    kobject_del(&master->kobj);

   250

    kobject_put(&master->kobj);

   251

}

   252

   253

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

   254

   255

#ifdef EC_EOE

   256

/**

   257

 * Clear and free all EoE handlers.

   258

 */

   259

   260

void ec_master_clear_eoe_handlers(

   261

        ec_master_t *master /**< EtherCAT master */

   262

        )

   263

{

   264

    ec_eoe_t *eoe, *next;

   265

   266

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

   267

        list_del(&eoe->list);

   268

        ec_eoe_clear(eoe);

   269

        kfree(eoe);

   270

    }

   271

}

   272

#endif

   273

   274

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

   275

   276

/**

   277

   Destroy all slaves.

   278

*/

   279

   280

void ec_master_destroy_slaves(ec_master_t *master)

   281

{

   282

    ec_slave_t *slave, *next_slave;

   283

   284

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

   285

        list_del(&slave->list);

   286

        ec_slave_destroy(slave);

   287

    }

   288

   289

    master->slave_count = 0;

   290

}

   291

   292

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

   293

   294

/**

   295

   Destroy all domains.

   296

*/

   297

   298

void ec_master_destroy_domains(ec_master_t *master)

   299

{

   300

    ec_domain_t *domain, *next_d;

   301

   302

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

   303

        list_del(&domain->list);

   304

        ec_domain_destroy(domain);

   305

    }

   306

}

   307

   308

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

   309

   310

/**

   311

   Internal locking callback.

   312

*/

   313

   314

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

   315

{

   316

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

   317

    return 0;

   318

}

   319

   320

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

   321

   322

/**

   323

   Internal unlocking callback.

   324

*/

   325

   326

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

   327

{

   328

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

   329

}

   330

   331

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

   332

   333

/**

   334

 * Starts the master thread.

   335

 */

   336

   337

int ec_master_thread_start(

   338

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

   339

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

   340

        )

   341

{

   342

    init_completion(&master->thread_exit);

   343

   344

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

   345

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

   346

                    master, CLONE_KERNEL)))

   347

        return -1;

   348

   349

    return 0;

   350

}

   351

   352

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

   353

   354

/**

   355

 * Stops the master thread.

   356

 */

   357

   358

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

   359

{

   360

    if (!master->thread_id) {

   361

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

   362

        return;

   363

    }

   364

   365

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

   366

    wait_for_completion(&master->thread_exit);

   367

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

   368

   369

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

   370

   371

    // wait for FSM datagram

   372

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

   373

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

   374

        schedule();

   375

}

   376

   377

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

   378

   379

/**

   380

 * Transition function from ORPHANED to IDLE mode.

   381

 */

   382

   383

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

   384

{

   385

    master->request_cb = ec_master_request_cb;

   386

    master->release_cb = ec_master_release_cb;

   387

    master->cb_data = master;

   388

   389

    master->mode = EC_MASTER_MODE_IDLE;

   390

    if (ec_master_thread_start(master, ec_master_idle_thread)) {

   391

        master->mode = EC_MASTER_MODE_ORPHANED;

   392

        return -1;

   393

    }

   394

   395

    return 0;

   396

}

   397

   398

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

   399

   400

/**

   401

 * Transition function from IDLE to ORPHANED mode.

   402

 */

   403

   404

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

   405

{

   406

    master->mode = EC_MASTER_MODE_ORPHANED;

   407

   408

#ifdef EC_EOE

   409

    ec_master_eoe_stop(master);

   410

#endif

   411

    ec_master_thread_stop(master);

   412

    ec_master_destroy_slaves(master);

   413

}

   414

   415

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

   416

   417

/**

   418

 * Transition function from IDLE to OPERATION mode.

   419

 */

   420

   421

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

   422

{

   423

    ec_slave_t *slave;

   424

#ifdef EC_EOE

   425

    ec_eoe_t *eoe;

   426

#endif

   427

   428

    down(&master->config_sem);

   429

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

   430

    up(&master->config_sem);

   431

   432

    // wait for slave configuration to complete

   433

    if (wait_event_interruptible(master->config_queue,

   434

                master->config_state != EC_REQUEST_IN_PROGRESS)) {

   435

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

   436

        goto out_allow;

   437

    }

   438

   439

    if (master->debug_level)

   440

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

   441

   442

    down(&master->scan_sem);

   443

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

   444

    up(&master->scan_sem);

   445

   446

    // wait for slave scan to complete

   447

    if (wait_event_interruptible(master->scan_queue,

   448

                master->scan_state != EC_REQUEST_IN_PROGRESS)) {

   449

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

   450

        goto out_allow;

   451

    }

   452

   453

    if (master->debug_level)

   454

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

   455

   456

    // set states for all slaves

   457

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

   458

        ec_slave_request_state(slave, EC_SLAVE_STATE_PREOP);

   459

    }

   460

#ifdef EC_EOE

   461

    // ... but set EoE slaves to OP

   462

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

   463

        if (ec_eoe_is_open(eoe))

   464

            ec_slave_request_state(eoe->slave, EC_SLAVE_STATE_OP);

   465

    }

   466

#endif

   467

   468

    if (master->debug_level)

   469

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

   470

   471

    master->mode = EC_MASTER_MODE_OPERATION;

   472

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

   473

    master->frames_timed_out = 0;

   474

    master->ext_request_cb = NULL;

   475

    master->ext_release_cb = NULL;

   476

    master->ext_cb_data = NULL;

   477

    return 0;

   478

   479

out_allow:

   480

    master->allow_scan = 1;

   481

    master->allow_config = 1;

   482

    return -1;

   483

}

   484

   485

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