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

#include <linux/device.h>

    47

#include <linux/version.h>

    48

    49

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

    50

#include "globals.h"

    51

#include "slave.h"

    52

#include "slave_config.h"

    53

#include "device.h"

    54

#include "datagram.h"

    55

#ifdef EC_EOE

    56

#include "ethernet.h"

    57

#endif

    58

#include "master.h"

    59

    60

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

    61

    62

void ec_master_clear_slave_configs(ec_master_t *);

    63

void ec_master_clear_domains(ec_master_t *);

    64

static int ec_master_idle_thread(ec_master_t *);

    65

static int ec_master_operation_thread(ec_master_t *);

    66

#ifdef EC_EOE

    67

void ec_master_eoe_run(unsigned long);

    68

#endif

    69

    70

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

    71

    72

/**

    73

   Master constructor.

    74

   \return 0 in case of success, else < 0

    75

*/

    76

    77

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

    78

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

    79

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

    80

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

    81

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

    82

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

    83

        )

    84

{

    85

    master->index = index;

    86

    master->reserved = 0;

    87

    88

    master->main_mac = main_mac;

    89

    master->backup_mac = backup_mac;

    90

    init_MUTEX(&master->device_sem);

    91

    92

    master->phase = EC_ORPHANED;

    93

    master->injection_seq_fsm = 0;

    94

    master->injection_seq_rt = 0;

    95

    96

    master->slaves = NULL;

    97

    master->slave_count = 0;

    98

    99

    INIT_LIST_HEAD(&master->configs);

   100

   101

    master->scan_busy = 0;

   102

    master->allow_scan = 1;

   103

    init_MUTEX(&master->scan_sem);

   104

    init_waitqueue_head(&master->scan_queue);

   105

   106

    master->config_busy = 0;

   107

    master->allow_config = 1;

   108

    init_MUTEX(&master->config_sem);

   109

    init_waitqueue_head(&master->config_queue);

   110

   111

    INIT_LIST_HEAD(&master->datagram_queue);

   112

    master->datagram_index = 0;

   113

   114

    INIT_LIST_HEAD(&master->domains);

   115

   116

    master->debug_level = 0;

   117

    master->stats.timeouts = 0;

   118

    master->stats.corrupted = 0;

   119

    master->stats.unmatched = 0;

   120

    master->stats.output_jiffies = 0;

   121

    master->frames_timed_out = 0;

   122

   123

#ifdef EC_EOE

   124

    init_timer(&master->eoe_timer);

   125

    master->eoe_timer.function = ec_master_eoe_run;

   126

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

   127

    master->eoe_running = 0;

   128

    INIT_LIST_HEAD(&master->eoe_handlers);

   129

#endif

   130

   131

    master->internal_lock = SPIN_LOCK_UNLOCKED;

   132

    master->request_cb = NULL;

   133

    master->release_cb = NULL;

   134

    master->cb_data = NULL;

   135

   136

    INIT_LIST_HEAD(&master->sii_requests);

   137

    init_MUTEX(&master->sii_sem);

   138

    init_waitqueue_head(&master->sii_queue);

   139

   140

    INIT_LIST_HEAD(&master->slave_sdo_requests);

   141

    init_MUTEX(&master->sdo_sem);

   142

    init_waitqueue_head(&master->sdo_queue);

   143

   144

    // init devices

   145

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

   146

        goto out_return;

   147

   148

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

   149

        goto out_clear_main;

   150

   151

    // init state machine datagram

   152

    ec_datagram_init(&master->fsm_datagram);

   153

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

   154

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

   155

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

   156

        goto out_clear_backup;

   157

    }

   158

   159

    // create state machine object

   160

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

   161

   162

    // init character device

   163

    if (ec_cdev_init(&master->cdev, master, device_number))

   164

        goto out_clear_fsm;

   165

   166

#if LINUX_VERSION_CODE < KERNEL_VERSION(2, 6, 15)

   167

    master->class_device = class_device_create(class,

   168

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

   169

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

   170

#else

   171

    master->class_device = class_device_create(class, NULL,

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

   173

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

   174

#endif

   175

    if (IS_ERR(master->class_device)) {

   176

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

   177

        goto out_clear_cdev;

   178

    }

   179

   180

    return 0;

   181

   182

out_clear_cdev:

   183

    ec_cdev_clear(&master->cdev);

   184

out_clear_fsm:

   185

    ec_fsm_master_clear(&master->fsm);

   186

    ec_datagram_clear(&master->fsm_datagram);

   187

out_clear_backup:

   188

    ec_device_clear(&master->backup_device);

   189

out_clear_main:

   190

    ec_device_clear(&master->main_device);

   191

out_return:

   192

    return -1;

   193

}

   194

   195

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

   196

   197

/** Destructor.

   198

*/

   199

void ec_master_clear(

   200

        ec_master_t *master /**< EtherCAT master */

   201

        )

   202

{

   203

    class_device_unregister(master->class_device);

   204

    ec_cdev_clear(&master->cdev);

   205

#ifdef EC_EOE

   206

    ec_master_clear_eoe_handlers(master);

   207

#endif

   208

    ec_master_clear_domains(master);

   209

    ec_master_clear_slave_configs(master);

   210

    ec_master_clear_slaves(master);

   211

    ec_fsm_master_clear(&master->fsm);

   212

    ec_datagram_clear(&master->fsm_datagram);

   213

    ec_device_clear(&master->backup_device);

   214

    ec_device_clear(&master->main_device);

   215

}

   216

   217

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

   218

   219

#ifdef EC_EOE

   220

/** Clear and free all EoE handlers.

   221

 */

   222

void ec_master_clear_eoe_handlers(

   223

        ec_master_t *master /**< EtherCAT master */

   224

        )

   225

{

   226

    ec_eoe_t *eoe, *next;

   227

   228

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

   229

        list_del(&eoe->list);

   230

        ec_eoe_clear(eoe);

   231

        kfree(eoe);

   232

    }

   233

}

   234

#endif

   235

   236

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

   237

   238

/** Clear all slave configurations.

   239

 */

   240

void ec_master_clear_slave_configs(ec_master_t *master)

   241

{

   242

    ec_slave_config_t *sc, *next;

   243

   244

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

   245

        list_del(&sc->list);

   246

        ec_slave_config_clear(sc);

   247

        kfree(sc);

   248

    }

   249

}

   250

   251

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

   252

   253

/** Clear all slaves.

   254

 */

   255

void ec_master_clear_slaves(ec_master_t *master)

   256

{

   257

    ec_slave_t *slave;

   258

   259

    for (slave = master->slaves;

   260

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

   261

            slave++) {

   262

        ec_slave_clear(slave);

   263

    }

   264

   265

    if (master->slaves) {

   266

        kfree(master->slaves);

   267

        master->slaves = NULL;

   268

    }

   269

   270

    master->slave_count = 0;

   271

}

   272

   273

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

   274

   275

/** Clear all domains.

   276

 */

   277

void ec_master_clear_domains(ec_master_t *master)

   278

{

   279

    ec_domain_t *domain, *next;

   280

   281

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

   282

        list_del(&domain->list);

   283

        ec_domain_clear(domain);

   284

        kfree(domain);

   285

    }

   286

}

   287

   288

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

   289

   290

/** Internal locking callback.

   291

 */

   292

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

   293

{

   294

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

   295

    return 0;

   296

}

   297

   298

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

   299

   300

/** Internal unlocking callback.

   301

 */

   302

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

   303

{

   304

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

   305

}

   306

   307

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

   308

   309

/** Starts the master thread.

   310

 */

   311

int ec_master_thread_start(

   312

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

   313

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

   314

        )

   315

{

   316

    init_completion(&master->thread_exit);

   317

   318

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

   319

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

   320

                    master, CLONE_KERNEL)))

   321

        return -1;

   322

   323

    return 0;

   324

}

   325

   326

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

   327

   328

/** Stops the master thread.

   329

 */

   330

void ec_master_thread_stop(

   331

        ec_master_t *master /**< EtherCAT master */

   332

        )

   333

{

   334

    unsigned long sleep_jiffies;

   335

   336

    if (!master->thread_id) {

   337

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

   338

        return;

   339

    }

   340

   341

    if (master->debug_level)

   342

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

   343

   344

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

   345

    wait_for_completion(&master->thread_exit);

   346

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

   347

   348

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

   349

   350

    // wait for FSM datagram

   351

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

   352

    schedule_timeout(sleep_jiffies);

   353

}

   354

   355

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

   356

   357

/** Transition function from ORPHANED to IDLE phase.

   358

 */

   359

int ec_master_enter_idle_phase(

   360

        ec_master_t *master /**< EtherCAT master */

   361

        )

   362

{

   363

    master->request_cb = ec_master_request_cb;

   364

    master->release_cb = ec_master_release_cb;

   365

    master->cb_data = master;

   366

   367

    if (master->debug_level)

   368

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

   369

   370

    master->phase = EC_IDLE;

   371

    if (ec_master_thread_start(master, ec_master_idle_thread)) {

   372

        master->phase = EC_ORPHANED;

   373

        return -1;

   374

    }

   375

   376

    return 0;

   377

}

   378

   379

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

   380

   381

/** Transition function from IDLE to ORPHANED phase.

   382

 */

   383

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

   384

{

   385

    if (master->debug_level)

   386

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

   387

   388

    master->phase = EC_ORPHANED;

   389

   390

#ifdef EC_EOE

   391

    ec_master_eoe_stop(master);

   392

#endif

   393

    ec_master_thread_stop(master);

   394

    ec_master_clear_slaves(master);

   395

}

   396

   397

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

   398

   399

/** Transition function from IDLE to OPERATION phase.

   400

 */

   401

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

   402

{

   403

    ec_slave_t *slave;

   404

#ifdef EC_EOE

   405

    ec_eoe_t *eoe;

   406

#endif

   407

   408

    if (master->debug_level)

   409

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

   410

   411

    down(&master->config_sem);

   412

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

   413

    if (master->config_busy) {

   414

        up(&master->config_sem);

   415

   416

        // wait for slave configuration to complete

   417

        if (wait_event_interruptible(master->config_queue,

   418

                    !master->config_busy)) {

   419

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

   420

            goto out_allow;

   421

        }

   422

   423

        if (master->debug_level)

   424

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

   425

    } else {

   426

        up(&master->config_sem);

   427

    }

   428

   429

    down(&master->scan_sem);

   430

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

   431

    if (!master->scan_busy) {

   432

        up(&master->scan_sem);

   433

    } else {

   434

        up(&master->scan_sem);

   435

   436

        // wait for slave scan to complete

   437

        if (wait_event_interruptible(master->scan_queue, !master->scan_busy)) {

   438

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

   439

            goto out_allow;

   440

        }

   441

   442

        if (master->debug_level)

   443

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

   444

    }

   445

   446

    // set states for all slaves

   447

    for (slave = master->slaves;

   448

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

   449

            slave++) {

   450

        ec_slave_request_state(slave, EC_SLAVE_STATE_PREOP);

   451

    }

   452

#ifdef EC_EOE

   453

    // ... but set EoE slaves to OP

   454

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

   455

        if (ec_eoe_is_open(eoe))

   456

            ec_slave_request_state(eoe->slave, EC_SLAVE_STATE_OP);

   457

    }

   458

#endif

   459

   460

    if (master->debug_level)

   461

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

   462

   463

    master->phase = EC_OPERATION;

   464

    master->ext_request_cb = NULL;

   465

    master->ext_release_cb = NULL;

   466

    master->ext_cb_data = NULL;

   467

    return 0;

   468

   469

out_allow:

   470

    master->allow_scan = 1;

   471

    master->allow_config = 1;

   472

    return -1;

   473

}

   474

   475

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

   476

   477

/** Transition function from OPERATION to IDLE phase.

   478

 */

   479

void ec_master_leave_operation_phase(ec_master_t *master

   480

                                    /**< EtherCAT master */)

   481

{

   482

    ec_slave_t *slave;

   483

#ifdef EC_EOE