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

    11

 *  published by the Free Software Foundation.

    12

 *

    13

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

    14

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

    15

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

    16

 *  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

 *  ---

    23

 *

    24

 *  The license mentioned above concerns the source code only. Using the

    25

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

    26

 *  industrial property and similar rights of Beckhoff Automation GmbH.

    27

 *

    28

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

    29

    30

/**

    31

   \file

    32

   EtherCAT master methods.

    33

*/

    34

    35

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

    36

    37

#include <linux/module.h>

    38

#include <linux/kernel.h>

    39

#include <linux/string.h>

    40

#include <linux/slab.h>

    41

#include <linux/delay.h>

    42

#include <linux/device.h>

    43

#include <linux/version.h>

    44

#include <linux/hrtimer.h>

    45

#include "globals.h"

    46

#include "slave.h"

    47

#include "slave_config.h"

    48

#include "device.h"

    49

#include "datagram.h"

    50

#ifdef EC_EOE

    51

#include "ethernet.h"

    52

#endif

    53

#include "master.h"

    54

    55

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

    56

    57

/** Set to 1 to enable external datagram injection debugging.

    58

 */

    59

#define DEBUG_INJECT 0

    60

    61

#ifdef EC_HAVE_CYCLES

    62

    63

/** Frame timeout in cycles.

    64

 */

    65

static cycles_t timeout_cycles;

    66

static cycles_t sdo_injection_timeout_cycles;

    67

#else

    68

    69

/** Frame timeout in jiffies.

    70

 */

    71

static unsigned long timeout_jiffies;

    72

static unsigned long sdo_injection_timeout_jiffies;

    73

    74

#endif

    75

    76

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

    77

    78

void ec_master_clear_slave_configs(ec_master_t *);

    79

void ec_master_clear_domains(ec_master_t *);

    80

static int ec_master_idle_thread(void *);

    81

static int ec_master_operation_thread(void *);

    82

#ifdef EC_EOE

    83

static int ec_master_eoe_thread(void *);

    84

#endif

    85

void ec_master_find_dc_ref_clock(ec_master_t *);

    86

    87

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

    88

    89

/** Static variables initializer.

    90

*/

    91

void ec_master_init_static(void)

    92

{

    93

#ifdef EC_HAVE_CYCLES

    94

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

    95

    sdo_injection_timeout_cycles = (cycles_t) EC_SDO_INJECTION_TIMEOUT /* us */ * (cpu_khz / 1000);

    96

#else

    97

    // one jiffy may always elapse between time measurement

    98

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

    99

    sdo_injection_timeout_jiffies = max(EC_SDO_INJECTION_TIMEOUT * HZ / 1000000, 1);

   100

#endif

   101

}

   102

   103

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

   104

   105

/**

   106

   Master constructor.

   107

   \return 0 in case of success, else < 0

   108

*/

   109

   110

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

   111

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

   112

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

   113

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

   114

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

   115

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

   116

        unsigned int debug_level /**< Debug level (module parameter). */

   117

        )

   118

{

   119

    int ret;

   120

   121

    master->index = index;

   122

    master->reserved = 0;

   123

   124

    sema_init(&master->master_sem, 1);

   125

   126

    master->main_mac = main_mac;

   127

    master->backup_mac = backup_mac;

   128

   129

    sema_init(&master->device_sem, 1);

   130

   131

    master->phase = EC_ORPHANED;

   132

    master->active = 0;

   133

    master->injection_seq_fsm = 0;

   134

    master->injection_seq_rt = 0;

   135

   136

    master->slaves = NULL;

   137

    master->slave_count = 0;

   138

   139

    INIT_LIST_HEAD(&master->configs);

   140

   141

    master->app_time = 0ULL;

   142

    master->app_start_time = 0ULL;

   143

    master->has_start_time = 0;

   144

   145

    master->scan_busy = 0;

   146

    master->allow_scan = 1;

   147

    sema_init(&master->scan_sem, 1);

   148

    init_waitqueue_head(&master->scan_queue);

   149

   150

    master->config_busy = 0;

   151

    master->allow_config = 1;

   152

    sema_init(&master->config_sem, 1);

   153

    init_waitqueue_head(&master->config_queue);

   154

   155

    INIT_LIST_HEAD(&master->datagram_queue);

   156

    master->datagram_index = 0;

   157

   158

    INIT_LIST_HEAD(&master->ext_datagram_queue);

   159

    sema_init(&master->ext_queue_sem, 1);

   160

   161

    INIT_LIST_HEAD(&master->external_datagram_queue);

   162

   163

    // send interval in IDLE phase

   164

    ec_master_set_send_interval(master, 1000000 / HZ);

   165

   166

    INIT_LIST_HEAD(&master->domains);

   167

   168

    master->debug_level = debug_level;

   169

    master->stats.timeouts = 0;

   170

    master->stats.corrupted = 0;

   171

    master->stats.unmatched = 0;

   172

    master->stats.output_jiffies = 0;

   173

   174

    master->thread = NULL;

   175

   176

#ifdef EC_EOE

   177

    master->eoe_thread = NULL;

   178

    INIT_LIST_HEAD(&master->eoe_handlers);

   179

#endif

   180

   181

    sema_init(&master->io_sem, 1);

   182

    master->send_cb = NULL;

   183

    master->receive_cb = NULL;

   184

    master->cb_data = NULL;

   185

    master->app_send_cb = NULL;

   186

    master->app_receive_cb = NULL;

   187

    master->app_cb_data = NULL;

   188

   189

    INIT_LIST_HEAD(&master->sii_requests);

   190

    init_waitqueue_head(&master->sii_queue);

   191

   192

    INIT_LIST_HEAD(&master->reg_requests);

   193

    init_waitqueue_head(&master->reg_queue);

   194

   195

    // init devices

   196

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

   197

    if (ret < 0)

   198

        goto out_return;

   199

   200

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

   201

    if (ret < 0)

   202

        goto out_clear_main;

   203

   204

    // init state machine datagram

   205

    ec_datagram_init(&master->fsm_datagram);

   206

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

   207

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

   208

    if (ret < 0) {

   209

        ec_datagram_clear(&master->fsm_datagram);

   210

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

   211

        goto out_clear_backup;

   212

    }

   213

   214

    // create state machine object

   215

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

   216

   217

    // init reference sync datagram

   218

    ec_datagram_init(&master->ref_sync_datagram);

   219

    snprintf(master->ref_sync_datagram.name, EC_DATAGRAM_NAME_SIZE, "refsync");

   220

    ret = ec_datagram_apwr(&master->ref_sync_datagram, 0, 0x0910, 8);

   221

    if (ret < 0) {

   222

        ec_datagram_clear(&master->ref_sync_datagram);

   223

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

   224

        goto out_clear_fsm;

   225

    }

   226

   227

    // init sync datagram

   228

    ec_datagram_init(&master->sync_datagram);

   229

    snprintf(master->sync_datagram.name, EC_DATAGRAM_NAME_SIZE, "sync");

   230

    ret = ec_datagram_prealloc(&master->sync_datagram, 4);

   231

    if (ret < 0) {

   232

        ec_datagram_clear(&master->sync_datagram);

   233

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

   234

        goto out_clear_ref_sync;

   235

    }

   236

   237

    // init sync monitor datagram

   238

    ec_datagram_init(&master->sync_mon_datagram);

   239

    snprintf(master->sync_mon_datagram.name, EC_DATAGRAM_NAME_SIZE, "syncmon");

   240

    ret = ec_datagram_brd(&master->sync_mon_datagram, 0x092c, 4);

   241

    if (ret < 0) {

   242

        ec_datagram_clear(&master->sync_mon_datagram);

   243

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

   244

        goto out_clear_sync;

   245

    }

   246

   247

    ec_master_find_dc_ref_clock(master);

   248

   249

    // init character device

   250

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

   251

    if (ret)

   252

        goto out_clear_sync_mon;

   253

   254

#if LINUX_VERSION_CODE >= KERNEL_VERSION(2, 6, 27)

   255

    master->class_device = device_create(class, NULL,

   256

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

   257

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

   258

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

   259

    master->class_device = device_create(class, NULL,

   260

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

   261

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

   262

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

   263

    master->class_device = class_device_create(class, NULL,

   264

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

   265

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

   266

#else

   267

    master->class_device = class_device_create(class,

   268

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

   269

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

   270

#endif

   271

    if (IS_ERR(master->class_device)) {

   272

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

   273

        ret = PTR_ERR(master->class_device);

   274

        goto out_clear_cdev;

   275

    }

   276

   277

    return 0;

   278

   279

out_clear_cdev:

   280

    ec_cdev_clear(&master->cdev);

   281

out_clear_sync_mon:

   282

    ec_datagram_clear(&master->sync_mon_datagram);

   283

out_clear_sync:

   284

    ec_datagram_clear(&master->sync_datagram);

   285

out_clear_ref_sync:

   286

    ec_datagram_clear(&master->ref_sync_datagram);

   287

out_clear_fsm:

   288

    ec_fsm_master_clear(&master->fsm);

   289

    ec_datagram_clear(&master->fsm_datagram);

   290

out_clear_backup:

   291

    ec_device_clear(&master->backup_device);

   292

out_clear_main:

   293

    ec_device_clear(&master->main_device);

   294

out_return:

   295

    return ret;

   296

}

   297

   298

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

   299

   300

/** Destructor.

   301

*/

   302

void ec_master_clear(

   303

        ec_master_t *master /**< EtherCAT master */

   304

        )

   305

{

   306

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

   307

    device_unregister(master->class_device);

   308

#else

   309

    class_device_unregister(master->class_device);

   310

#endif

   311

   312

    ec_cdev_clear(&master->cdev);

   313

   314

#ifdef EC_EOE

   315

    ec_master_clear_eoe_handlers(master);

   316

#endif

   317

    ec_master_clear_domains(master);

   318

    ec_master_clear_slave_configs(master);

   319

    ec_master_clear_slaves(master);

   320

   321

    ec_datagram_clear(&master->sync_mon_datagram);

   322

    ec_datagram_clear(&master->sync_datagram);

   323

    ec_datagram_clear(&master->ref_sync_datagram);

   324

    ec_fsm_master_clear(&master->fsm);

   325

    ec_datagram_clear(&master->fsm_datagram);

   326

    ec_device_clear(&master->backup_device);

   327

    ec_device_clear(&master->main_device);

   328

}

   329

   330

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

   331

   332

#ifdef EC_EOE

   333

/** Clear and free all EoE handlers.

   334

 */

   335

void ec_master_clear_eoe_handlers(

   336

        ec_master_t *master /**< EtherCAT master */

   337

        )

   338

{

   339

    ec_eoe_t *eoe, *next;

   340

   341

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

   342

        list_del(&eoe->list);

   343

        ec_eoe_clear(eoe);

   344

        kfree(eoe);

   345

    }

   346

}

   347

#endif

   348

   349

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

   350

   351

/** Clear all slave configurations.

   352

 */

   353

void ec_master_clear_slave_configs(ec_master_t *master)

   354

{

   355

    ec_slave_config_t *sc, *next;

   356

   357

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

   358

        list_del(&sc->list);

   359

        ec_slave_config_clear(sc);

   360

        kfree(sc);

   361

    }

   362

}

   363

   364

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

   365

   366

/** Clear all slaves.

   367

 */

   368

void ec_master_clear_slaves(ec_master_t *master)

   369

{

   370

    ec_slave_t *slave;

   371

   372

    master->dc_ref_clock = NULL;

   373

   374

    // external requests are obsolete, so we wake pending waiters and remove

   375

    // them from the list

   376

    //

   377

    // SII requests

   378

    while (1) {

   379

        ec_sii_write_request_t *request;

   380

        if (list_empty(&master->sii_requests))

   381

            break;

   382

        // get first request

   383

        request = list_entry(master->sii_requests.next,

   384

                ec_sii_write_request_t, list);

   385

        list_del_init(&request->list); // dequeue

   386

        EC_INFO("Discarding SII request, slave %u does not exist anymore.\n",

   387

                request->slave->ring_position);

   388

        request->state = EC_INT_REQUEST_FAILURE;

   389

        wake_up(&master->sii_queue);

   390

    }

   391

   392

    // Register requests

   393

    while (1) {

   394

        ec_reg_request_t *request;

   395

        if (list_empty(&master->reg_requests))

   396

            break;

   397

        // get first request

   398

        request = list_entry(master->reg_requests.next,

   399

                ec_reg_request_t, list);

   400

        list_del_init(&request->list); // dequeue

   401

        EC_INFO("Discarding Reg request, slave %u does not exist anymore.\n",

   402

                request->slave->ring_position);

   403

        request->state = EC_INT_REQUEST_FAILURE;

   404

        wake_up(&master->reg_queue);

   405

    }

   406

   407

    for (slave = master->slaves;

   408

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

   409

            slave++) {

   410

        // SDO requests

   411

        while (1) {

   412

            ec_master_sdo_request_t *request;

   413

            if (list_empty(&slave->slave_sdo_requests))

   414

                break;

   415

            // get first request

   416

            request = list_entry(slave->slave_sdo_requests.next,

   417

                    ec_master_sdo_request_t, list);

   418

            list_del_init(&request->list); // dequeue

   419

            EC_INFO("Discarding SDO request,"

   420

					" slave %u does not exist anymore.\n",

   421

                    slave->ring_position);

   422

            request->req.state = EC_INT_REQUEST_FAILURE;

   423

            wake_up(&slave->sdo_queue);

   424

        }

   425

        // FoE requests

   426

        while (1) {

   427

            ec_master_foe_request_t *request;

   428

            if (list_empty(&slave->foe_requests))

   429

                break;

   430

            // get first request

   431

            request = list_entry(slave->foe_requests.next,

   432

                    ec_master_foe_request_t, list);

   433

            list_del_init(&request->list); // dequeue

   434

            EC_INFO("Discarding FoE request,"

   435

					" slave %u does not exist anymore.\n",

   436

                    slave->ring_position);

   437

            request->req.state = EC_INT_REQUEST_FAILURE;

   438

            wake_up(&slave->foe_queue);

   439

        }

   440

        // SoE requests

   441

        while (1) {

   442

            ec_master_soe_request_t *request;

   443

            if (list_empty(&slave->soe_requests))

   444

                break;

   445

            // get first request

   446

            request = list_entry(slave->soe_requests.next,

   447

                    ec_master_soe_request_t, list);

   448

            list_del_init(&request->list); // dequeue

   449

            EC_INFO("Discarding SoE request,"

   450

					" slave %u does not exist anymore.\n",

   451

                    slave->ring_position);

   452

            request->req.state = EC_INT_REQUEST_FAILURE;

   453

            wake_up(&slave->soe_queue);

   454

        }

   455

        ec_slave_clear(slave);

   456

    }

   457

   458

    if (master->slaves) {

   459

        kfree(master->slaves);

   460

        master->slaves = NULL;

   461

    }

   462

   463

    master->slave_count = 0;

   464

}

   465

   466

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

   467

   468

/** Clear all domains.

   469

 */

   470

void ec_master_clear_domains(ec_master_t *master)

   471

{

   472

    ec_domain_t *domain, *next;

   473

   474

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

   475

        list_del(&domain->list);

   476

        ec_domain_clear(domain);

   477

        kfree(domain);

   478

    }

   479

}

   480

   481

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

   482