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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.

    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

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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

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 *  standard) as the (only) precondition to have the right to use EtherCAT

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 *  Technology, IP and trade marks.

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 *

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

    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 "types.h"

    52

#include "device.h"

    53

#include "command.h"

    54

#include "ethernet.h"

    55

    56

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

    57

    58

void ec_master_freerun(void *);

    59

void ec_master_eoe_run(unsigned long);

    60

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

    63

    64

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

    65

    66

/** \cond */

    67

    68

EC_SYSFS_READ_ATTR(slave_count);

    69

EC_SYSFS_READ_ATTR(mode);

    71

    72

static struct attribute *ec_def_attrs[] = {

    73

    &attr_slave_count,

    74

    &attr_mode,

    76

    NULL,

    77

};

    78

    79

static struct sysfs_ops ec_sysfs_ops = {

    80

    .show = &ec_show_master_attribute,

    82

};

    83

    84

static struct kobj_type ktype_ec_master = {

    85

    .release = ec_master_clear,

    86

    .sysfs_ops = &ec_sysfs_ops,

    87

    .default_attrs = ec_def_attrs

    88

};

    89

    90

/** \endcond */

    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

                   unsigned int eoe_devices /**< number of EoE devices */

   102

                   )

   103

{

   104

    ec_eoe_t *eoe, *next_eoe;

   105

    unsigned int i;

   106

   107

    EC_INFO("Initializing master %i.\n", index);

   108

   109

    master->index = index;

   110

    master->device = NULL;

   111

    master->reserved = 0;

   112

    INIT_LIST_HEAD(&master->slaves);

   113

    INIT_LIST_HEAD(&master->command_queue);

   114

    INIT_LIST_HEAD(&master->domains);

   115

    INIT_LIST_HEAD(&master->eoe_handlers);

   116

    ec_command_init(&master->simple_command);

   117

    INIT_WORK(&master->freerun_work, ec_master_freerun, (void *) master);

   118

    init_timer(&master->eoe_timer);

   119

    master->eoe_timer.function = ec_master_eoe_run;

   120

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

   121

    master->internal_lock = SPIN_LOCK_UNLOCKED;

   122

    master->eoe_running = 0;

   123

   124

    // create workqueue

   125

    if (!(master->workqueue = create_singlethread_workqueue("EtherCAT"))) {

   126

        EC_ERR("Failed to create master workqueue.\n");

   127

        goto out_return;

   128

    }

   129

   130

    // create EoE handlers

   131

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

   132

        if (!(eoe = (ec_eoe_t *) kmalloc(sizeof(ec_eoe_t), GFP_KERNEL))) {

   133

            EC_ERR("Failed to allocate EoE-Object.\n");

   134

            goto out_clear_eoe;

   135

        }

   136

        if (ec_eoe_init(eoe)) {

   137

            kfree(eoe);

   138

            goto out_clear_eoe;

   139

        }

   140

        list_add_tail(&eoe->list, &master->eoe_handlers);

   141

    }

   142

   143

    // create state machine object

   144

    if (ec_fsm_init(&master->fsm, master)) goto out_clear_eoe;

   145

   146

    // init kobject and add it to the hierarchy

   147

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

   148

    kobject_init(&master->kobj);

   149

    master->kobj.ktype = &ktype_ec_master;

   150

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

   151

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

   152

        kobject_put(&master->kobj);

   153

        return -1;

   154

    }

   155

   156

    ec_master_reset(master);

   157

    return 0;

   158

   159

 out_clear_eoe:

   160

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

   161

        list_del(&eoe->list);

   162

        ec_eoe_clear(eoe);

   163

        kfree(eoe);

   164

    }

   165

    destroy_workqueue(master->workqueue);

   166

 out_return:

   167

    return -1;

   168

}

   169

   170

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

   171

   172

/**

   173

   Master destructor.

   174

   Removes all pending commands, clears the slave list, clears all domains

   175

   and frees the device.

   176

*/

   177

   178

void ec_master_clear(struct kobject *kobj /**< kobject of the master */)

   179

{

   180

    ec_master_t *master = container_of(kobj, ec_master_t, kobj);

   181

    ec_eoe_t *eoe, *next_eoe;

   182

   183

    EC_INFO("Clearing master %i...\n", master->index);

   184

   185

    ec_master_reset(master);

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    ec_fsm_clear(&master->fsm);

   187

    ec_command_clear(&master->simple_command);

   188

    destroy_workqueue(master->workqueue);

   189

   190

    // clear EoE objects

   191

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

   192

        list_del(&eoe->list);

   193

        ec_eoe_clear(eoe);

   194

        kfree(eoe);

   195

    }

   196

   197

    if (master->device) {

   198

        ec_device_clear(master->device);

   199

        kfree(master->device);

   200

    }

   201

   202

    EC_INFO("Master %i cleared.\n", master->index);

   203

}

   204

   205

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

   206

   207

/**

   208

   Resets the master.

   209

   Note: This function has to be called, everytime ec_master_release() is

   210

   called, to free the slave list, domains etc.

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*/

   212

   213

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

   214

{

   215

    ec_command_t *command, *next_c;

   216

    ec_domain_t *domain, *next_d;

   217

   218

    ec_master_eoe_stop(master);

   219

    ec_master_freerun_stop(master);

   220

    ec_master_clear_slaves(master);

   221

   222

    // empty command queue

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    list_for_each_entry_safe(command, next_c, &master->command_queue, queue) {

   224

        list_del_init(&command->queue);

   225

        command->state = EC_CMD_ERROR;

   226

    }

   227

   228

    // clear domains

   229

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

   230

        list_del(&domain->list);

   231

        kobject_del(&domain->kobj);

   232

        kobject_put(&domain->kobj);

   233

    }

   234

   235

    master->command_index = 0;

   236

    master->debug_level = 0;

   237

    master->timeout = 500; // 500us

   238

   239

    master->stats.timeouts = 0;

   240

    master->stats.delayed = 0;

   241

    master->stats.corrupted = 0;

   242

    master->stats.unmatched = 0;

   243

    master->stats.t_last = 0;

   244

   245

    master->mode = EC_MASTER_MODE_IDLE;

   246

   247

    master->request_cb = NULL;

   248

    master->release_cb = NULL;

   249

    master->cb_data = NULL;

   250

   253

    ec_fsm_reset(&master->fsm);

   254

}

   255

   256

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

   257

   258

/**

   259

   Clears all slaves.

   260

*/

   261

   262

void ec_master_clear_slaves(ec_master_t *master)

   263

{

   264

    ec_slave_t *slave, *next_slave;

   265

   266

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

   267

        list_del(&slave->list);

   268

        kobject_del(&slave->kobj);

   269

        kobject_put(&slave->kobj);

   270

    }

   271

    master->slave_count = 0;

   272

}

   273

   274

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

   275

   276

/**

   277

   Places a command in the command queue.

   278

*/

   279

   280

void ec_master_queue_command(ec_master_t *master, /**< EtherCAT master */

   281

                             ec_command_t *command /**< command */

   282

                             )

   283

{

   284

    ec_command_t *queued_command;

   285

   286

    // check, if the command is already queued

   287

    list_for_each_entry(queued_command, &master->command_queue, queue) {

   288

        if (queued_command == command) {

   289

            command->state = EC_CMD_QUEUED;

   290

            if (unlikely(master->debug_level))

   291

                EC_WARN("command already queued.\n");

   292

            return;

   293

        }

   294

    }

   295

   296

    list_add_tail(&command->queue, &master->command_queue);

   297

    command->state = EC_CMD_QUEUED;

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}

   299

   300

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

   301

   302

/**

   303

   Sends the commands in the queue.

   304

   \return 0 in case of success, else < 0

   305

*/

   306

   307

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

   308

{

   309

    ec_command_t *command;

   310

    size_t command_size;

   311

    uint8_t *frame_data, *cur_data;

   312

    void *follows_word;

   313

    cycles_t t_start, t_end;

   314

    unsigned int frame_count, more_commands_waiting;

   315

   316

    frame_count = 0;

   317

    t_start = get_cycles();

   318

   319

    if (unlikely(master->debug_level > 0))

   320

        EC_DBG("ec_master_send_commands\n");

   321

   322

    do {

   323

        // fetch pointer to transmit socket buffer

   324

        frame_data = ec_device_tx_data(master->device);

   325

        cur_data = frame_data + EC_FRAME_HEADER_SIZE;

   326

        follows_word = NULL;

   327

        more_commands_waiting = 0;

   328

   329

        // fill current frame with commands

   330

        list_for_each_entry(command, &master->command_queue, queue) {

   331

            if (command->state != EC_CMD_QUEUED) continue;

   332

   333

            // does the current command fit in the frame?

   334

            command_size = EC_COMMAND_HEADER_SIZE + command->data_size

   335

                + EC_COMMAND_FOOTER_SIZE;

   336

            if (cur_data - frame_data + command_size > ETH_DATA_LEN) {

   337

                more_commands_waiting = 1;

   338

                break;

   339

            }

   340

   341

            command->state = EC_CMD_SENT;

   342

            command->t_sent = t_start;

   343

            command->index = master->command_index++;

   344

   345

            if (unlikely(master->debug_level > 0))

   346

                EC_DBG("adding command 0x%02X\n", command->index);

   347

   348

            // set "command following" flag in previous frame

   349

            if (follows_word)

   350

                EC_WRITE_U16(follows_word, EC_READ_U16(follows_word) | 0x8000);

   351

   352

            // EtherCAT command header

   353

            EC_WRITE_U8 (cur_data,     command->type);

   354

            EC_WRITE_U8 (cur_data + 1, command->index);

   355

            EC_WRITE_U32(cur_data + 2, command->address.logical);

   356

            EC_WRITE_U16(cur_data + 6, command->data_size & 0x7FF);

   357

            EC_WRITE_U16(cur_data + 8, 0x0000);

   358

            follows_word = cur_data + 6;

   359

            cur_data += EC_COMMAND_HEADER_SIZE;

   360

   361

            // EtherCAT command data

   362

            memcpy(cur_data, command->data, command->data_size);

   363

            cur_data += command->data_size;

   364

   365

            // EtherCAT command footer

   366

            EC_WRITE_U16(cur_data, 0x0000); // reset working counter

   367

            cur_data += EC_COMMAND_FOOTER_SIZE;

   368

        }

   369

   370

        if (cur_data - frame_data == EC_FRAME_HEADER_SIZE) {

   371

            if (unlikely(master->debug_level > 0))

   372

                EC_DBG("nothing to send.\n");

   373

            break;

   374

        }

   375

   376

        // EtherCAT frame header

   377

        EC_WRITE_U16(frame_data, ((cur_data - frame_data

   378

                                   - EC_FRAME_HEADER_SIZE) & 0x7FF) | 0x1000);

   379

   380

        // pad frame

   381

        while (cur_data - frame_data < ETH_ZLEN - ETH_HLEN)

   382

            EC_WRITE_U8(cur_data++, 0x00);

   383

   384

        if (unlikely(master->debug_level > 0))

   385

            EC_DBG("frame size: %i\n", cur_data - frame_data);

   386

   387

        // send frame

   388

        ec_device_send(master->device, cur_data - frame_data);

   389

        frame_count++;

   390

    }

   391

    while (more_commands_waiting);

   392

   393

    if (unlikely(master->debug_level > 0)) {

   394

        t_end = get_cycles();

   395

        EC_DBG("ec_master_send_commands sent %i frames in %ius.\n",

   396

               frame_count, (u32) (t_end - t_start) * 1000 / cpu_khz);

   397

    }

   398

}

   399

   400

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

   401

   402

/**

   403

   Processes a received frame.

   404

   This function is called by the network driver for every received frame.

   405

   \return 0 in case of success, else < 0

   406

*/

   407

   408

void ec_master_receive(ec_master_t *master, /**< EtherCAT master */

   409

                       const uint8_t *frame_data, /**< received data */

   410

                       size_t size /**< size of the received data */

   411

                       )

   412

{

   413

    size_t frame_size, data_size;

   414

    uint8_t command_type, command_index;

   415

    unsigned int cmd_follows, matched;

   416

    const uint8_t *cur_data;

   417

    ec_command_t *command;

   418

   419

    if (unlikely(size < EC_FRAME_HEADER_SIZE)) {

   420

        master->stats.corrupted++;

   421

        ec_master_output_stats(master);

   422

        return;

   423

    }

   424

   425

    cur_data = frame_data;

   426

   427

    // check length of entire frame

   428

    frame_size = EC_READ_U16(cur_data) & 0x07FF;

   429

    cur_data += EC_FRAME_HEADER_SIZE;

   430

   431

    if (unlikely(frame_size > size)) {

   432

        master->stats.corrupted++;

   433

        ec_master_output_stats(master);

   434

        return;

   435

    }

   436

   437

    cmd_follows = 1;

   438

    while (cmd_follows) {

   439

        // process command header

   440

        command_type  = EC_READ_U8 (cur_data);

   441

        command_index = EC_READ_U8 (cur_data + 1);

   442

        data_size     = EC_READ_U16(cur_data + 6) & 0x07FF;

   443

        cmd_follows   = EC_READ_U16(cur_data + 6) & 0x8000;

   444

        cur_data += EC_COMMAND_HEADER_SIZE;

   445

   446

        if (unlikely(cur_data - frame_data

   447

                     + data_size + EC_COMMAND_FOOTER_SIZE > size)) {

   448

            master->stats.corrupted++;

   449

            ec_master_output_stats(master);

   450

            return;

   451

        }

   452

   453

        // search for matching command in the queue

   454

        matched = 0;

   455

        list_for_each_entry(command, &master->command_queue, queue) {

   456

            if (command->state == EC_CMD_SENT

   457

                && command->type == command_type

   458

                && command->index == command_index

   459

                && command->data_size == data_size) {

   460

                matched = 1;

   461

                break;

   462

            }

   463

        }

   464

   465

        // no matching command was found

   466

        if (!matched) {

   467

            master->stats.unmatched++;

   468

            ec_master_output_stats(master);

   469

            cur_data += data_size + EC_COMMAND_FOOTER_SIZE;

   470

            continue;

   471

        }

   472

   473

        // copy received data in the command memory

   474

        memcpy(command->data, cur_data, data_size);

   475

        cur_data += data_size;

   476

   477

        // set the command's working counter

   478

        command->working_counter = EC_READ_U16(cur_data);

   479

        cur_data += EC_COMMAND_FOOTER_SIZE;

   480

   481

        // dequeue the received command

   482

        command->state = EC_CMD_RECEIVED;

   483

        list_del_init(&command->queue);

   484

    }

   485

}

   486

   487

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

   488