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.

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 *

    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

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

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 *

    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

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 *  industrial property and similar rights of Beckhoff Automation GmbH.

    27

 *

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 *  vim: expandtab

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 *

    30

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

    31

    32

/**

    33

   \file

    34

   EtherCAT master methods.

    35

*/

    36

    37

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

    38

    39

#include <linux/module.h>

    40

#include <linux/kernel.h>

    41

#include <linux/string.h>

    42

#include <linux/slab.h>

    43

#include <linux/delay.h>

    44

#include <linux/device.h>

    45

#include <linux/version.h>

    46

#include <linux/hrtimer.h>

    47

#include "globals.h"

    48

#include "slave.h"

    49

#include "slave_config.h"

    50

#include "device.h"

    51

#include "datagram.h"

    52

#ifdef EC_EOE

    53

#include "ethernet.h"

    54

#endif

    55

#include "master.h"

    56

    57

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

    58

    59

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

    60

 */

    61

#define DEBUG_INJECT 0

    62

    63

#ifdef EC_HAVE_CYCLES

    64

    65

/** Frame timeout in cycles.

    66

 */

    67

static cycles_t timeout_cycles;

    68

    69

/** Timeout for external datagram injection [cycles].

    70

 */

    71

static cycles_t ext_injection_timeout_cycles;

    72

    73

#else

    74

    75

/** Frame timeout in jiffies.

    76

 */

    77

static unsigned long timeout_jiffies;

    78

    79

/** Timeout for external datagram injection [jiffies].

    80

 */

    81

static unsigned long ext_injection_timeout_jiffies;

    82

    83

#endif

    84

    85

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

    86

    87

void ec_master_clear_slave_configs(ec_master_t *);

    88

void ec_master_clear_domains(ec_master_t *);

    89

static int ec_master_idle_thread(void *);

    90

static int ec_master_operation_thread(void *);

    91

#ifdef EC_EOE

    92

static int ec_master_eoe_thread(void *);

    93

#endif

    94

void ec_master_find_dc_ref_clock(ec_master_t *);

    95

    96

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

    97

    98

/** Static variables initializer.

    99

*/

   100

void ec_master_init_static(void)

   101

{

   102

#ifdef EC_HAVE_CYCLES

   103

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

   104

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

   105

#else

   106

    // one jiffy may always elapse between time measurement

   107

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

   108

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

   109

#endif

   110

}

   111

   112

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

   113

   114

/**

   115

   Master constructor.

   116

   \return 0 in case of success, else < 0

   117

*/

   118

   119

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

   120

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

   121

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

   122

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

   123

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

   124

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

   125

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

   126

        )

   127

{

   128

    int ret;

   129

   130

    master->index = index;

   131

    master->reserved = 0;

   132

   133

    sema_init(&master->master_sem, 1);

   134

   135

    master->main_mac = main_mac;

   136

    master->backup_mac = backup_mac;

   137

   138

    sema_init(&master->device_sem, 1);

   139

   140

    master->phase = EC_ORPHANED;

   141

    master->active = 0;

   142

    master->injection_seq_fsm = 0;

   143

    master->injection_seq_rt = 0;

   144

   145

    master->slaves = NULL;

   146

    master->slave_count = 0;

   147

   148

    INIT_LIST_HEAD(&master->configs);

   149

   150

    master->app_time = 0ULL;

   151

    master->app_start_time = 0ULL;

   152

    master->has_start_time = 0;

   153

   154

    master->scan_busy = 0;

   155

    master->allow_scan = 1;

   156

    sema_init(&master->scan_sem, 1);

   157

    init_waitqueue_head(&master->scan_queue);

   158

   159

    master->config_busy = 0;

   160

    master->allow_config = 1;

   161

    sema_init(&master->config_sem, 1);

   162

    init_waitqueue_head(&master->config_queue);

   163

   164

    INIT_LIST_HEAD(&master->datagram_queue);

   165

    master->datagram_index = 0;

   166

   167

    INIT_LIST_HEAD(&master->ext_datagram_queue);

   168

    sema_init(&master->ext_queue_sem, 1);

   169

   170

    INIT_LIST_HEAD(&master->external_datagram_queue);

   171

   172

    // send interval in IDLE phase

   173

    ec_master_set_send_interval(master, 1000000 / HZ);

   174

   175

    INIT_LIST_HEAD(&master->domains);

   176

   177

    master->debug_level = debug_level;

   178

    master->stats.timeouts = 0;

   179

    master->stats.corrupted = 0;

   180

    master->stats.unmatched = 0;

   181

    master->stats.output_jiffies = 0;

   182

   183

    master->thread = NULL;

   184

   185

#ifdef EC_EOE

   186

    master->eoe_thread = NULL;

   187

    INIT_LIST_HEAD(&master->eoe_handlers);

   188

#endif

   189

   190

    sema_init(&master->io_sem, 1);

   191

    master->send_cb = NULL;

   192

    master->receive_cb = NULL;

   193

    master->cb_data = NULL;

   194

    master->app_send_cb = NULL;

   195

    master->app_receive_cb = NULL;

   196

    master->app_cb_data = NULL;

   197

   198

    INIT_LIST_HEAD(&master->sii_requests);

   199

    init_waitqueue_head(&master->sii_queue);

   200

   201

    INIT_LIST_HEAD(&master->reg_requests);

   202

    init_waitqueue_head(&master->reg_queue);

   203

   204

    // init devices

   205

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

   206

    if (ret < 0)

   207

        goto out_return;

   208

   209

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

   210

    if (ret < 0)

   211

        goto out_clear_main;

   212

   213

    // init state machine datagram

   214

    ec_datagram_init(&master->fsm_datagram);

   215

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

   216

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

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    if (ret < 0) {

   218

        ec_datagram_clear(&master->fsm_datagram);

   219

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

   220

        goto out_clear_backup;

   221

    }

   222

   223

    // create state machine object

   224

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

   225

   226

    // init reference sync datagram

   227

    ec_datagram_init(&master->ref_sync_datagram);

   228

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

   229

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

   230

    if (ret < 0) {

   231

        ec_datagram_clear(&master->ref_sync_datagram);

   232

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

   233

        goto out_clear_fsm;

   234

    }

   235

   236

    // init sync datagram

   237

    ec_datagram_init(&master->sync_datagram);

   238

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

   239

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

   240

    if (ret < 0) {

   241

        ec_datagram_clear(&master->sync_datagram);

   242

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

   243

        goto out_clear_ref_sync;

   244

    }

   245

   246

    // init sync monitor datagram

   247

    ec_datagram_init(&master->sync_mon_datagram);

   248

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

   249

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

   250

    if (ret < 0) {

   251

        ec_datagram_clear(&master->sync_mon_datagram);

   252

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

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        goto out_clear_sync;

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    }

   255

   256

    ec_master_find_dc_ref_clock(master);

   257

   258

    // init character device

   259

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

   260

    if (ret)

   261

        goto out_clear_sync_mon;

   262

   263

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

   264

    master->class_device = device_create(class, NULL,

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

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

   267

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

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    master->class_device = device_create(class, NULL,

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

   270

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

   271

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

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    master->class_device = class_device_create(class, NULL,

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

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

   275

#else

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    master->class_device = class_device_create(class,

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

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

   279

#endif

   280

    if (IS_ERR(master->class_device)) {

   281

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

   282

        ret = PTR_ERR(master->class_device);

   283

        goto out_clear_cdev;

   284

    }

   285

   286

    return 0;

   287

   288

out_clear_cdev:

   289

    ec_cdev_clear(&master->cdev);

   290

out_clear_sync_mon:

   291

    ec_datagram_clear(&master->sync_mon_datagram);

   292

out_clear_sync:

   293

    ec_datagram_clear(&master->sync_datagram);

   294

out_clear_ref_sync:

   295

    ec_datagram_clear(&master->ref_sync_datagram);

   296

out_clear_fsm:

   297

    ec_fsm_master_clear(&master->fsm);

   298

    ec_datagram_clear(&master->fsm_datagram);

   299

out_clear_backup:

   300

    ec_device_clear(&master->backup_device);

   301

out_clear_main:

   302

    ec_device_clear(&master->main_device);

   303

out_return:

   304

    return ret;

   305

}

   306

   307

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

   308

   309

/** Destructor.

   310

*/

   311

void ec_master_clear(

   312

        ec_master_t *master /**< EtherCAT master */

   313

        )

   314

{

   315

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

   316

    device_unregister(master->class_device);

   317

#else

   318

    class_device_unregister(master->class_device);

   319

#endif

   320

   321

    ec_cdev_clear(&master->cdev);

   322

   323

#ifdef EC_EOE

   324

    ec_master_clear_eoe_handlers(master);

   325

#endif

   326

    ec_master_clear_domains(master);

   327

    ec_master_clear_slave_configs(master);

   328

    ec_master_clear_slaves(master);

   329

   330

    ec_datagram_clear(&master->sync_mon_datagram);

   331

    ec_datagram_clear(&master->sync_datagram);

   332

    ec_datagram_clear(&master->ref_sync_datagram);

   333

    ec_fsm_master_clear(&master->fsm);

   334

    ec_datagram_clear(&master->fsm_datagram);

   335

    ec_device_clear(&master->backup_device);

   336

    ec_device_clear(&master->main_device);

   337

}

   338

   339

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

   340

   341

#ifdef EC_EOE

   342

/** Clear and free all EoE handlers.

   343

 */

   344

void ec_master_clear_eoe_handlers(

   345

        ec_master_t *master /**< EtherCAT master */

   346

        )

   347

{

   348

    ec_eoe_t *eoe, *next;

   349

   350

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

   351

        list_del(&eoe->list);

   352

        ec_eoe_clear(eoe);

   353

        kfree(eoe);

   354

    }

   355

}

   356

#endif

   357

   358

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

   359

   360

/** Clear all slave configurations.

   361

 */

   362

void ec_master_clear_slave_configs(ec_master_t *master)

   363

{

   364

    ec_slave_config_t *sc, *next;

   365

   366

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

   367

        list_del(&sc->list);

   368

        ec_slave_config_clear(sc);

   369

        kfree(sc);

   370

    }

   371

}

   372

   373

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

   374

   375

/** Clear all slaves.

   376

 */

   377

void ec_master_clear_slaves(ec_master_t *master)

   378

{

   379

    ec_slave_t *slave;

   380

   381

    master->dc_ref_clock = NULL;

   382

   383

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

   384

    // them from the list

   385

    //

   386

    // SII requests

   387

    while (1) {

   388

        ec_sii_write_request_t *request;

   389

        if (list_empty(&master->sii_requests))

   390

            break;

   391

        // get first request

   392

        request = list_entry(master->sii_requests.next,

   393

                ec_sii_write_request_t, list);

   394

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

   395

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

   396

                request->slave->ring_position);

   397

        request->state = EC_INT_REQUEST_FAILURE;

   398

        wake_up(&master->sii_queue);

   399

    }

   400

   401

    // Register requests

   402

    while (1) {

   403

        ec_reg_request_t *request;

   404

        if (list_empty(&master->reg_requests))

   405

            break;

   406

        // get first request

   407

        request = list_entry(master->reg_requests.next,

   408

                ec_reg_request_t, list);

   409

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

   410

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

   411

                request->slave->ring_position);

   412

        request->state = EC_INT_REQUEST_FAILURE;

   413

        wake_up(&master->reg_queue);

   414

    }

   415

   416

    for (slave = master->slaves;

   417

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

   418

            slave++) {

   419

        // SDO requests

   420

        while (1) {

   421

            ec_master_sdo_request_t *request;

   422

            if (list_empty(&slave->slave_sdo_requests))

   423

                break;

   424

            // get first request

   425

            request = list_entry(slave->slave_sdo_requests.next,

   426

                    ec_master_sdo_request_t, list);

   427

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

   428

            EC_INFO("Discarding SDO request,"

   429

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

   430

                    slave->ring_position);

   431

            request->req.state = EC_INT_REQUEST_FAILURE;

   432

            wake_up(&slave->sdo_queue);

   433

        }

   434

        // FoE requests

   435

        while (1) {

   436

            ec_master_foe_request_t *request;

   437

            if (list_empty(&slave->foe_requests))

   438

                break;

   439

            // get first request

   440

            request = list_entry(slave->foe_requests.next,

   441

                    ec_master_foe_request_t, list);

   442

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

   443

            EC_INFO("Discarding FoE request,"

   444

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

   445

                    slave->ring_position);

   446

            request->req.state = EC_INT_REQUEST_FAILURE;

   447

            wake_up(&slave->foe_queue);

   448

        }

   449

        // SoE requests

   450

        while (1) {

   451

            ec_master_soe_request_t *request;

   452

            if (list_empty(&slave->soe_requests))

   453

                break;

   454

            // get first request

   455

            request = list_entry(slave->soe_requests.next,

   456

                    ec_master_soe_request_t, list);

   457

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

   458

            EC_INFO("Discarding SoE request,"

   459

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

   460

                    slave->ring_position);

   461

            request->req.state = EC_INT_REQUEST_FAILURE;

   462

            wake_up(&slave->soe_queue);

   463

        }

   464

        ec_slave_clear(slave);

   465

    }

   466

   467

    if (master->slaves) {

   468

        kfree(master->slaves);

   469

        master->slaves = NULL;

   470

    }

   471

   472

    master->slave_count = 0;

   473

}

   474

   475

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

   476

   477

/** Clear all domains.

   478

 */

   479

void ec_master_clear_domains(ec_master_t *master)

   480

{

   481

    ec_domain_t *domain, *next;

   482