1

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

     2

 *

     3

 *  $Id$

     4

 *

     5

 *  Copyright (C) 2006-2008  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 and/or

    10

 *  modify it under the terms of the GNU General Public License version 2, as

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 *  published by the Free Software Foundation.

    12

 *

    13

 *  The IgH EtherCAT Master is distributed in the hope that it will be useful,

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 *  but WITHOUT ANY WARRANTY; without even the implied warranty of

    15

 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General

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 *  Public License for more details.

    17

 *

    18

 *  You should have received a copy of the GNU General Public License along

    19

 *  with the IgH EtherCAT Master; if not, write to the Free Software

    20

 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA

    21

 *

    22

 *  Using the EtherCAT technology and brand is permitted in compliance with

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 *  the industrial property and similar rights of Beckhoff Automation GmbH.

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 *

    25

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

    26

    27

/**

    28

   \file

    29

   EtherCAT master methods.

    30

*/

    31

    32

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

    33

    34

#include <linux/module.h>

    35

#include <linux/kernel.h>

    36

#include <linux/string.h>

    37

#include <linux/slab.h>

    38

#include <linux/delay.h>

    39

#include <linux/device.h>

    40

#include <linux/version.h>

    41

    42

#include "globals.h"

    43

#include "slave.h"

    44

#include "slave_config.h"

    45

#include "device.h"

    46

#include "datagram.h"

    47

#ifdef EC_EOE

    48

#include "ethernet.h"

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#endif

    50

#include "master.h"

    51

    52

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

    53

    54

#ifdef EC_HAVE_CYCLES

    55

    56

/** Frame timeout in cycles.

    57

 */

    58

static cycles_t timeout_cycles;

    59

    60

#else

    61

    62

/** Frame timeout in jiffies.

    63

 */

    64

static unsigned long timeout_jiffies;

    65

    66

#endif

    67

    68

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

    69

    70

void ec_master_clear_slave_configs(ec_master_t *);

    71

void ec_master_clear_domains(ec_master_t *);

    72

static int ec_master_idle_thread(void *);

    73

static int ec_master_operation_thread(void *);

    74

#ifdef EC_EOE

    75

void ec_master_eoe_run(unsigned long);

    76

#endif

    77

    78

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

    79

    80

/** Static variables initializer.

    81

*/

    82

void ec_master_init_static(void)

    83

{

    84

#ifdef EC_HAVE_CYCLES

    85

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

    86

#else

    87

    // one jiffy may always elapse between time measurement

    88

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

    89

#endif

    90

}

    91

    92

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

    93

    94

/**

    95

   Master constructor.

    96

   \return 0 in case of success, else < 0

    97

*/

    98

    99

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

   100

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

   101

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

   102

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

   103

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

   104

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

   105

        )

   106

{

   107

    int ret;

   108

   109

    master->index = index;

   110

    master->reserved = 0;

   111

   112

    init_MUTEX(&master->master_sem);

   113

   114

    master->main_mac = main_mac;

   115

    master->backup_mac = backup_mac;

   116

    init_MUTEX(&master->device_sem);

   117

   118

    master->phase = EC_ORPHANED;

   119

    master->injection_seq_fsm = 0;

   120

    master->injection_seq_rt = 0;

   121

   122

    master->slaves = NULL;

   123

    master->slave_count = 0;

   124

   125

    INIT_LIST_HEAD(&master->configs);

   126

   127

    master->scan_busy = 0;

   128

    master->allow_scan = 1;

   129

    init_MUTEX(&master->scan_sem);

   130

    init_waitqueue_head(&master->scan_queue);

   131

   132

    master->config_busy = 0;

   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);

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    master->datagram_index = 0;

   139

   140

    INIT_LIST_HEAD(&master->domains);

   141

   142

    master->debug_level = 0;

   143

    master->stats.timeouts = 0;

   144

    master->stats.corrupted = 0;

   145

    master->stats.unmatched = 0;

   146

    master->stats.output_jiffies = 0;

   147

    master->frames_timed_out = 0;

   148

   149

    master->thread = NULL;

   150

   151

#ifdef EC_EOE

   152

    init_timer(&master->eoe_timer);

   153

    master->eoe_timer.function = ec_master_eoe_run;

   154

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

   155

    master->eoe_running = 0;

   156

    INIT_LIST_HEAD(&master->eoe_handlers);

   157

#endif

   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->sii_requests);

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    init_waitqueue_head(&master->sii_queue);

   166

   167

    INIT_LIST_HEAD(&master->slave_sdo_requests);

   168

    init_waitqueue_head(&master->sdo_queue);

   169

   170

    INIT_LIST_HEAD(&master->phy_requests);

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    init_waitqueue_head(&master->phy_queue);

   172

   173

    INIT_LIST_HEAD(&master->foe_requests);

   174

    init_waitqueue_head(&master->foe_queue);

   175

   176

    // init devices

   177

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

   178

    if (ret < 0)

   179

        goto out_return;

   180

   181

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

   182

    if (ret < 0)

   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

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

   189

    if (ret < 0) {

   190

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

   191

        goto out_clear_backup;

   192

    }

   193

   194

    // create state machine object

   195

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

   196

   197

    // init character device

   198

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

   199

    if (ret)

   200

        goto out_clear_fsm;

   201

   202

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

   203

    master->class_device = device_create(class, NULL,

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

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

   206

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

   207

    master->class_device = class_device_create(class, NULL,

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

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

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#else

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    master->class_device = class_device_create(class,

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

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

   214

#endif

   215

    if (IS_ERR(master->class_device)) {

   216

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

   217

        ret = PTR_ERR(master->class_device);

   218

        goto out_clear_cdev;

   219

    }

   220

   221

    return 0;

   222

   223

out_clear_cdev:

   224

    ec_cdev_clear(&master->cdev);

   225

out_clear_fsm:

   226

    ec_fsm_master_clear(&master->fsm);

   227

    ec_datagram_clear(&master->fsm_datagram);

   228

out_clear_backup:

   229

    ec_device_clear(&master->backup_device);

   230

out_clear_main:

   231

    ec_device_clear(&master->main_device);

   232

out_return:

   233

    return ret;

   234

}

   235

   236

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

   237

   238

/** Destructor.

   239

*/

   240

void ec_master_clear(

   241

        ec_master_t *master /**< EtherCAT master */

   242

        )

   243

{

   244

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

   245

    device_unregister(master->class_device);

   246

#else

   247

    class_device_unregister(master->class_device);

   248

#endif

   249

    ec_cdev_clear(&master->cdev);

   250

#ifdef EC_EOE

   251

    ec_master_clear_eoe_handlers(master);

   252

#endif

   253

    ec_master_clear_domains(master);

   254

    ec_master_clear_slave_configs(master);

   255

    ec_master_clear_slaves(master);

   256

    ec_fsm_master_clear(&master->fsm);

   257

    ec_datagram_clear(&master->fsm_datagram);

   258

    ec_device_clear(&master->backup_device);

   259

    ec_device_clear(&master->main_device);

   260

}

   261

   262

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

   263

   264

#ifdef EC_EOE

   265

/** Clear and free all EoE handlers.

   266

 */

   267

void ec_master_clear_eoe_handlers(

   268

        ec_master_t *master /**< EtherCAT master */

   269

        )

   270

{

   271

    ec_eoe_t *eoe, *next;

   272

   273

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

   274

        list_del(&eoe->list);

   275

        ec_eoe_clear(eoe);

   276

        kfree(eoe);

   277

    }

   278

}

   279

#endif

   280

   281

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

   282

   283

/** Clear all slave configurations.

   284

 */

   285

void ec_master_clear_slave_configs(ec_master_t *master)

   286

{

   287

    ec_slave_config_t *sc, *next;

   288

   289

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

   290

        list_del(&sc->list);

   291

        ec_slave_config_clear(sc);

   292

        kfree(sc);

   293

    }

   294

}

   295

   296

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

   297

   298

/** Clear all slaves.

   299

 */

   300

void ec_master_clear_slaves(ec_master_t *master)

   301

{

   302

    ec_slave_t *slave;

   303

   304

    for (slave = master->slaves;

   305

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

   306

            slave++) {

   307

        ec_slave_clear(slave);

   308

    }

   309

   310

    if (master->slaves) {

   311

        kfree(master->slaves);

   312

        master->slaves = NULL;

   313

    }

   314

   315

    master->slave_count = 0;

   316

}

   317

   318

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

   319

   320

/** Clear all domains.

   321

 */

   322

void ec_master_clear_domains(ec_master_t *master)

   323

{

   324

    ec_domain_t *domain, *next;

   325

   326

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

   327

        list_del(&domain->list);

   328

        ec_domain_clear(domain);

   329

        kfree(domain);

   330

    }

   331

}

   332

   333

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

   334

   335

/** Internal locking callback.

   336

 */

   337

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

   338

{

   339

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

   340

    return 0;

   341

}

   342

   343

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

   344

   345

/** Internal unlocking callback.

   346

 */

   347

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

   348

{

   349

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

   350

}

   351

   352

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

   353

   354

/** Starts the master thread.

   355

 *

   356

 * \retval  0 Success.

   357

 * \retval <0 Error code.

   358

 */

   359

int ec_master_thread_start(

   360

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

   361

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

   362

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

   363

        )

   364

{

   365

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

   366

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

   367

    if (IS_ERR(master->thread)) {

   368

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

   369

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

   370

        master->thread = NULL;

   371

        return err;

   372

    }

   373

   374

    return 0;

   375

}

   376

   377

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

   378

   379

/** Stops the master thread.

   380

 */

   381

void ec_master_thread_stop(

   382

        ec_master_t *master /**< EtherCAT master */

   383

        )

   384

{

   385

    unsigned long sleep_jiffies;

   386

   387

    if (!master->thread) {

   388

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

   389

        return;

   390

    }

   391

   392

    if (master->debug_level)

   393

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

   394

   395

    kthread_stop(master->thread);

   396

    master->thread = NULL;

   397

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

   398

   399

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

   400

        return;

   401

   402

    // wait for FSM datagram

   403

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

   404

    schedule_timeout(sleep_jiffies);

   405

}

   406

   407

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

   408

   409

/** Transition function from ORPHANED to IDLE phase.

   410

 */

   411

int ec_master_enter_idle_phase(

   412

        ec_master_t *master /**< EtherCAT master */

   413

        )

   414

{

   415

    int ret;

   416

   417

    if (master->debug_level)

   418

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

   419

   420

    master->request_cb = ec_master_request_cb;

   421

    master->release_cb = ec_master_release_cb;

   422

    master->cb_data = master;

   423

   424

    master->phase = EC_IDLE;

   425

    ret = ec_master_thread_start(master, ec_master_idle_thread,

   426

            "EtherCAT-IDLE");

   427

    if (ret)

   428

        master->phase = EC_ORPHANED;

   429

   430

    return ret;

   431

}

   432

   433

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

   434

   435

/** Transition function from IDLE to ORPHANED phase.

   436

 */

   437

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

   438

{

   439

    if (master->debug_level)

   440

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

   441

   442

    master->phase = EC_ORPHANED;

   443

   444

#ifdef EC_EOE

   445

    ec_master_eoe_stop(master);

   446

#endif

   447

    ec_master_thread_stop(master);

   448

   449

    down(&master->master_sem);

   450

    ec_master_clear_slaves(master);

   451

    up(&master->master_sem);

   452

}

   453

   454

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

   455

   456

/** Transition function from IDLE to OPERATION phase.

   457

 */

   458

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

   459

{

   460

    int ret = 0;

   461

    ec_slave_t *slave;

   462

#ifdef EC_EOE

   463

    ec_eoe_t *eoe;

   464

#endif

   465

   466

    if (master->debug_level)

   467

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

   468

   469

    down(&master->config_sem);

   470

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

   471

    if (master->config_busy) {

   472

        up(&master->config_sem);

   473

   474

        // wait for slave configuration to complete

   475

        ret = wait_event_interruptible(master->config_queue,

   476

                    !master->config_busy);

   477

        if (ret) {

   478

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

   479

            goto out_allow;

   480

        }

   481

   482

        if (master->debug_level)