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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

    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

    47

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

    48

#include "globals.h"

    49

#include "slave.h"

    50

#include "slave_config.h"

    51

#include "device.h"

    52

#include "datagram.h"

    53

#ifdef EC_EOE

    54

#include "ethernet.h"

    55

#endif

    56

#include "master.h"

    57

    58

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

    59

    60

void ec_master_destroy_slave_configs(ec_master_t *);

    61

void ec_master_destroy_domains(ec_master_t *);

    62

static int ec_master_idle_thread(ec_master_t *);

    63

static int ec_master_operation_thread(ec_master_t *);

    64

#ifdef EC_EOE

    65

void ec_master_eoe_run(unsigned long);

    66

#endif

    67

    68

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

    69

    70

/** \cond */

    71

    72

static struct kobj_type ktype_ec_master = {

    73

    .release = NULL,

    74

};

    75

    76

/** \endcond */

    77

    78

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

    79

    80

/**

    81

   Master constructor.

    82

   \return 0 in case of success, else < 0

    83

*/

    84

    85

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

    86

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

    87

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

    88

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

    89

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

    90

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

    91

        )

    92

{

    93

    unsigned int i;

    94

    95

    master->index = index;

    96

    master->reserved = 0;

    97

    98

    master->main_mac = main_mac;

    99

    master->backup_mac = backup_mac;

   100

    init_MUTEX(&master->device_sem);

   101

   102

    master->mode = EC_MASTER_MODE_ORPHANED;

   103

    master->injection_seq_fsm = 0;

   104

    master->injection_seq_rt = 0;

   105

   106

    INIT_LIST_HEAD(&master->slaves);

   107

    master->slave_count = 0;

   108

   109

    INIT_LIST_HEAD(&master->configs);

   110

   111

    master->scan_busy = 0;

   112

    master->allow_scan = 1;

   113

    init_MUTEX(&master->scan_sem);

   114

    init_waitqueue_head(&master->scan_queue);

   115

   116

    master->config_busy = 0;

   117

    master->allow_config = 1;

   118

    init_MUTEX(&master->config_sem);

   119

    init_waitqueue_head(&master->config_queue);

   120

   121

    INIT_LIST_HEAD(&master->datagram_queue);

   122

    master->datagram_index = 0;

   123

   124

    INIT_LIST_HEAD(&master->domains);

   125

   126

    master->debug_level = 0;

   127

    master->stats.timeouts = 0;

   128

    master->stats.corrupted = 0;

   129

    master->stats.unmatched = 0;

   130

    master->stats.output_jiffies = 0;

   131

    master->frames_timed_out = 0;

   132

   133

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

   134

        master->idle_cycle_times[i] = 0;

   135

#ifdef EC_EOE

   136

        master->eoe_cycle_times[i] = 0;

   137

#endif

   138

    }

   139

    master->idle_cycle_time_pos = 0;

   140

#ifdef EC_EOE

   141

    master->eoe_cycle_time_pos = 0;

   142

   143

    init_timer(&master->eoe_timer);

   144

    master->eoe_timer.function = ec_master_eoe_run;

   145

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

   146

    master->eoe_running = 0;

   147

    INIT_LIST_HEAD(&master->eoe_handlers);

   148

#endif

   149

   150

    master->internal_lock = SPIN_LOCK_UNLOCKED;

   151

    master->request_cb = NULL;

   152

    master->release_cb = NULL;

   153

    master->cb_data = NULL;

   154

   155

    INIT_LIST_HEAD(&master->sii_requests);

   156

    init_MUTEX(&master->sii_sem);

   157

    init_waitqueue_head(&master->sii_queue);

   158

   159

    INIT_LIST_HEAD(&master->slave_sdo_requests);

   160

    init_MUTEX(&master->sdo_sem);

   161

    init_waitqueue_head(&master->sdo_queue);

   162

   163

    // init character device

   164

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

   165

        goto out_return;

   166

   167

    // init devices

   168

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

   169

        goto out_cdev;

   170

   171

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

   172

        goto out_clear_main;

   173

   174

    // init state machine datagram

   175

    ec_datagram_init(&master->fsm_datagram);

   176

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

   177

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

   178

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

   179

        goto out_clear_backup;

   180

    }

   181

   182

    // create state machine object

   183

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

   184

   185

    // init kobject and add it to the hierarchy

   186

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

   187

    kobject_init(&master->kobj);

   188

    master->kobj.ktype = &ktype_ec_master;

   189

    master->kobj.parent = module_kobj;

   190

   191

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

   192

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

   193

        kobject_put(&master->kobj);

   194

        goto out_clear_fsm;

   195

    }

   196

   197

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

   198

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

   199

        kobject_put(&master->kobj);

   200

        goto out_clear_fsm;

   201

    }

   202

   203

    return 0;

   204

   205

out_clear_fsm:

   206

    ec_fsm_master_clear(&master->fsm);

   207

out_clear_backup:

   208

    ec_device_clear(&master->backup_device);

   209

out_clear_main:

   210

    ec_device_clear(&master->main_device);

   211

out_cdev:

   212

    ec_cdev_clear(&master->cdev);

   213

out_return:

   214

    return -1;

   215

}

   216

   217

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

   218

   219

/**

   220

   Clear and free master.

   221

   This method is called by the kobject,

   222

   once there are no more references to it.

   223

*/

   224

   225

void ec_master_clear(

   226

        ec_master_t *master /**< EtherCAT master */

   227

        )

   228

{

   229

#ifdef EC_EOE

   230

    ec_master_clear_eoe_handlers(master);

   231

#endif

   232

    ec_master_destroy_slave_configs(master);

   234

    ec_master_destroy_domains(master);

   235

    ec_fsm_master_clear(&master->fsm);

   236

    ec_datagram_clear(&master->fsm_datagram);

   237

    ec_device_clear(&master->backup_device);

   238

    ec_device_clear(&master->main_device);

   239

    ec_cdev_clear(&master->cdev);

   240

   241

    // destroy self

   242

    kobject_del(&master->kobj);

   243

    kobject_put(&master->kobj);

   244

}

   245

   246

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

   247

   248

#ifdef EC_EOE

   249

/** Clear and free all EoE handlers.

   250

 */

   251

void ec_master_clear_eoe_handlers(

   252

        ec_master_t *master /**< EtherCAT master */

   253

        )

   254

{

   255

    ec_eoe_t *eoe, *next;

   256

   257

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

   258

        list_del(&eoe->list);

   259

        ec_eoe_clear(eoe);

   260

        kfree(eoe);

   261

    }

   262

}

   263

#endif

   264

   265

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

   266

   267

/** Destroy all slave configurations.

   268

 */

   269

void ec_master_destroy_slave_configs(ec_master_t *master)

   270

{

   271

    ec_slave_config_t *sc, *next;

   272

   273

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

   274

        list_del(&sc->list);

   275

        ec_slave_config_destroy(sc);

   276

    }

   277

}

   278

   279

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

   280

   281

/** Destroy all slaves.

   282

 */

   284

{

   285

    ec_slave_t *slave, *next;

   286

   287

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

   288

        list_del(&slave->list);

   291

    }

   292

   293

    master->slave_count = 0;

   294

}

   295

   296

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

   297

   298

/**

   299

   Destroy all domains.

   300

*/

   301

   302

void ec_master_destroy_domains(ec_master_t *master)

   303

{

   304

    ec_domain_t *domain, *next;

   305

   306

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

   307

        list_del(&domain->list);

   308

        ec_domain_destroy(domain);

   309

    }

   310

}

   311

   312

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

   313

   314

/**

   315

   Internal locking callback.

   316

*/

   317

   318

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

   319

{

   320

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

   321

    return 0;

   322

}

   323

   324

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

   325

   326

/**

   327

   Internal unlocking callback.

   328

*/

   329

   330

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

   331

{

   332

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

   333

}

   334

   335

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

   336

   337

/**

   338

 * Starts the master thread.

   339

 */

   340

   341

int ec_master_thread_start(

   342

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

   343

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

   344

        )

   345

{

   346

    init_completion(&master->thread_exit);

   347

   348

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

   349

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

   350

                    master, CLONE_KERNEL)))

   351

        return -1;

   352

   353

    return 0;

   354

}

   355

   356

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

   357

   358

/**

   359

 * Stops the master thread.

   360

 */

   361

   362

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

   363

{

   364

    if (!master->thread_id) {

   365

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

   366

        return;

   367

    }

   368

   369

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

   370

    wait_for_completion(&master->thread_exit);

   371

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

   372

   373

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

   374

   375

    // wait for FSM datagram

   376

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

   377

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

   378

        schedule();

   379

}

   380

   381

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

   382

   383

/**

   384

 * Transition function from ORPHANED to IDLE mode.

   385

 */

   386

   387

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

   388

{

   389

    master->request_cb = ec_master_request_cb;

   390

    master->release_cb = ec_master_release_cb;

   391

    master->cb_data = master;

   392

   393

    master->mode = EC_MASTER_MODE_IDLE;

   394

    if (ec_master_thread_start(master, ec_master_idle_thread)) {

   395

        master->mode = EC_MASTER_MODE_ORPHANED;

   396

        return -1;

   397

    }

   398

   399

    return 0;

   400

}

   401

   402

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

   403

   404

/**

   405

 * Transition function from IDLE to ORPHANED mode.

   406

 */

   407

   408

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

   409

{

   410

    master->mode = EC_MASTER_MODE_ORPHANED;

   411

   412

#ifdef EC_EOE

   413

    ec_master_eoe_stop(master);

   414

#endif

   415

    ec_master_thread_stop(master);

   417

}

   418

   419

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

   420

   421

/**

   422

 * Transition function from IDLE to OPERATION mode.

   423

 */

   424

   425

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

   426

{

   427

    ec_slave_t *slave;

   428

#ifdef EC_EOE

   429

    ec_eoe_t *eoe;

   430

#endif

   431

   432

    down(&master->config_sem);

   433

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

   434

    if (master->config_busy) {

   435

        up(&master->config_sem);

   436

   437

        // wait for slave configuration to complete

   438

        if (wait_event_interruptible(master->config_queue,

   439

                    !master->config_busy)) {

   440

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

   441

            goto out_allow;

   442

        }

   443

   444

        if (master->debug_level)

   445

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

   446

    } else {

   447

        up(&master->config_sem);

   448

    }

   449

   450

    down(&master->scan_sem);

   451

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

   452

    if (!master->scan_busy) {

   453

        up(&master->scan_sem);

   454

    } else {

   455

        up(&master->scan_sem);

   456

   457

        // wait for slave scan to complete

   458

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

   459

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

   460

            goto out_allow;

   461

        }

   462

   463

        if (master->debug_level)

   464

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

   465

    }

   466

   467

    // set states for all slaves

   468

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

   469

        ec_slave_request_state(slave, EC_SLAVE_STATE_PREOP);

   470

    }

   471

#ifdef EC_EOE

   472

    // ... but set EoE slaves to OP

   473

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

   474

        if (ec_eoe_is_open(eoe))

   475

            ec_slave_request_state(eoe->slave, EC_SLAVE_STATE_OP);

   476

    }

   477

#endif

   478

   479

    if (master->debug_level)

   480

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

   481

   482

    master->mode = EC_MASTER_MODE_OPERATION;

   483

    master->ext_request_cb = NULL;

   484

    master->ext_release_cb = NULL;