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

     2

 *

     3

 *  $Id$

     4

 *

     5

 *  Copyright (C) 2006-2008  Florian Pose, Ingenieurgemeinschaft IgH

     6

 *

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 *  This file is part of the IgH EtherCAT Master.

     8

 *

     9

 *  The IgH EtherCAT Master is free software; you can redistribute it and/or

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 *  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

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 *  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

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 *  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.

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 *

    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

    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

#ifdef EC_HAVE_CYCLES

    58

    59

/** Frame timeout in cycles.

    60

 */

    61

static cycles_t timeout_cycles;

    62

    63

#else

    64

    65

/** Frame timeout in jiffies.

    66

 */

    67

static unsigned long timeout_jiffies;

    68

    69

#endif

    70

    71

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

    72

    73

void ec_master_clear_slave_configs(ec_master_t *);

    74

void ec_master_clear_domains(ec_master_t *);

    75

static int ec_master_idle_thread(void *);

    76

static int ec_master_operation_thread(void *);

    77

#ifdef EC_EOE

    78

void ec_master_eoe_run(unsigned long);

    79

#endif

    80

    81

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

    82

    83

/** Static variables initializer.

    84

*/

    85

void ec_master_init_static(void)

    86

{

    87

#ifdef EC_HAVE_CYCLES

    88

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

    89

#else

    90

    // one jiffy may always elapse between time measurement

    91

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

    92

#endif

    93

}

    94

    95

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

    96

    97

/**

    98

   Master constructor.

    99

   \return 0 in case of success, else < 0

   100

*/

   101

   102

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

   103

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

   104

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

   105

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

   106

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

   107

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

   108

        )

   109

{

   110

    int ret;

   111

   112

    master->index = index;

   113

    master->reserved = 0;

   114

   115

    init_MUTEX(&master->master_sem);

   116

   117

    master->main_mac = main_mac;

   118

    master->backup_mac = backup_mac;

   119

    init_MUTEX(&master->device_sem);

   120

   121

    master->phase = EC_ORPHANED;

   122

    master->injection_seq_fsm = 0;

   123

    master->injection_seq_rt = 0;

   124

   125

    master->slaves = NULL;

   126

    master->slave_count = 0;

   127

   128

    INIT_LIST_HEAD(&master->configs);

   129

   130

    master->scan_busy = 0;

   131

    master->allow_scan = 1;

   132

    init_MUTEX(&master->scan_sem);

   133

    init_waitqueue_head(&master->scan_queue);

   134

   135

    master->config_busy = 0;

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    master->allow_config = 1;

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    init_MUTEX(&master->config_sem);

   138

    init_waitqueue_head(&master->config_queue);

   139

   140

    INIT_LIST_HEAD(&master->datagram_queue);

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    master->datagram_index = 0;

   142

   143

    INIT_LIST_HEAD(&master->domains);

   144

   145

    master->debug_level = 0;

   146

    master->stats.timeouts = 0;

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    master->stats.corrupted = 0;

   148

    master->stats.unmatched = 0;

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    master->stats.output_jiffies = 0;

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    master->frames_timed_out = 0;

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   152

    master->thread = NULL;

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   154

#ifdef EC_EOE

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    init_timer(&master->eoe_timer);

   156

    master->eoe_timer.function = ec_master_eoe_run;

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

   158

    master->eoe_running = 0;

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    INIT_LIST_HEAD(&master->eoe_handlers);

   160

#endif

   161

   162

    master->internal_lock = SPIN_LOCK_UNLOCKED;

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    master->request_cb = NULL;

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    master->release_cb = NULL;

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    master->cb_data = NULL;

   166

   167

    INIT_LIST_HEAD(&master->sii_requests);

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    init_waitqueue_head(&master->sii_queue);

   169

   170

    INIT_LIST_HEAD(&master->slave_sdo_requests);

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    init_waitqueue_head(&master->sdo_queue);

   172

   173

    INIT_LIST_HEAD(&master->reg_requests);

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    init_waitqueue_head(&master->reg_queue);

   175

   176

    INIT_LIST_HEAD(&master->foe_requests);

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    init_waitqueue_head(&master->foe_queue);

   178

   179

    // init devices

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

   181

    if (ret < 0)

   182

        goto out_return;

   183

   184

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

   185

    if (ret < 0)

   186

        goto out_clear_main;

   187

   188

    // init state machine datagram

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    ec_datagram_init(&master->fsm_datagram);

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

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

   192

    if (ret < 0) {

   193

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

   194

        goto out_clear_backup;

   195

    }

   196

   197

    // create state machine object

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

   199

   200

    // init character device

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

   202

    if (ret)

   203

        goto out_clear_fsm;

   204

   205

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

   206

    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);

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#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),

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

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#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);

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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), NULL,

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

   221

#endif

   222

    if (IS_ERR(master->class_device)) {

   223

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

   224

        ret = PTR_ERR(master->class_device);

   225

        goto out_clear_cdev;

   226

    }

   227

   228

    return 0;

   229

   230

out_clear_cdev:

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    ec_cdev_clear(&master->cdev);

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out_clear_fsm:

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    ec_fsm_master_clear(&master->fsm);

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    ec_datagram_clear(&master->fsm_datagram);

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out_clear_backup:

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    ec_device_clear(&master->backup_device);

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out_clear_main:

   238

    ec_device_clear(&master->main_device);

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out_return:

   240

    return ret;

   241

}

   242

   243

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

   244

   245

/** Destructor.

   246

*/

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void ec_master_clear(

   248

        ec_master_t *master /**< EtherCAT master */

   249

        )

   250

{

   251

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

   252

    device_unregister(master->class_device);

   253

#else

   254

    class_device_unregister(master->class_device);

   255

#endif

   256

    ec_cdev_clear(&master->cdev);

   257

#ifdef EC_EOE

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    ec_master_clear_eoe_handlers(master);

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#endif

   260

    ec_master_clear_domains(master);

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    ec_master_clear_slave_configs(master);

   262

    ec_master_clear_slaves(master);

   263

    ec_fsm_master_clear(&master->fsm);

   264

    ec_datagram_clear(&master->fsm_datagram);

   265

    ec_device_clear(&master->backup_device);

   266

    ec_device_clear(&master->main_device);

   267

}

   268

   269

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

   270

   271

#ifdef EC_EOE

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/** Clear and free all EoE handlers.

   273

 */

   274

void ec_master_clear_eoe_handlers(

   275

        ec_master_t *master /**< EtherCAT master */

   276

        )

   277

{

   278

    ec_eoe_t *eoe, *next;

   279

   280

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

   281

        list_del(&eoe->list);

   282

        ec_eoe_clear(eoe);

   283

        kfree(eoe);

   284

    }

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}

   286

#endif

   287

   288

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

   289

   290

/** Clear all slave configurations.

   291

 */

   292

void ec_master_clear_slave_configs(ec_master_t *master)

   293

{

   294

    ec_slave_config_t *sc, *next;

   295

   296

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

   297

        list_del(&sc->list);

   298

        ec_slave_config_clear(sc);

   299

        kfree(sc);

   300

    }

   301

}

   302

   303

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

   304

   305

/** Clear all slaves.

   306

 */

   307

void ec_master_clear_slaves(ec_master_t *master)

   308

{

   309

    ec_slave_t *slave;

   310

   311

    for (slave = master->slaves;

   312

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

   313

            slave++) {

   314

        ec_slave_clear(slave);

   315

    }

   316

   317

    if (master->slaves) {

   318

        kfree(master->slaves);

   319

        master->slaves = NULL;

   320

    }

   321

   322

    master->slave_count = 0;

   323

}

   324

   325

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

   326

   327

/** Clear all domains.

   328

 */

   329

void ec_master_clear_domains(ec_master_t *master)

   330

{

   331

    ec_domain_t *domain, *next;

   332

   333

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

   334

        list_del(&domain->list);

   335

        ec_domain_clear(domain);

   336

        kfree(domain);

   337

    }

   338

}

   339

   340

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

   341

   342

/** Internal locking callback.

   343

 */

   344

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

   345

{

   346

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

   347

    return 0;

   348

}

   349

   350

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

   351

   352

/** Internal unlocking callback.

   353

 */

   354

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

   355

{

   356

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

   357

}

   358

   359

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

   360

   361

/** Starts the master thread.

   362

 *

   363

 * \retval  0 Success.

   364

 * \retval <0 Error code.

   365

 */

   366

int ec_master_thread_start(

   367

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

   368

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

   369

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

   370

        )

   371

{

   372

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

   373

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

   374

    if (IS_ERR(master->thread)) {

   375

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

   376

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

   377

        master->thread = NULL;

   378

        return err;

   379

    }

   380

   381

    return 0;

   382

}

   383

   384

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

   385

   386

/** Stops the master thread.

   387

 */

   388

void ec_master_thread_stop(

   389

        ec_master_t *master /**< EtherCAT master */

   390

        )

   391

{

   392

    unsigned long sleep_jiffies;

   393

   394

    if (!master->thread) {

   395

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

   396

        return;

   397

    }

   398

   399

    if (master->debug_level)

   400

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

   401

   402

    kthread_stop(master->thread);

   403

    master->thread = NULL;

   404

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

   405

   406

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

   407

        return;

   408

   409

    // wait for FSM datagram

   410

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

   411

    schedule_timeout(sleep_jiffies);

   412

}

   413

   414

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

   415

   416

/** Transition function from ORPHANED to IDLE phase.

   417

 */

   418

int ec_master_enter_idle_phase(

   419

        ec_master_t *master /**< EtherCAT master */

   420

        )

   421

{

   422

    int ret;

   423

   424

    if (master->debug_level)

   425

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

   426

   427

    master->request_cb = ec_master_request_cb;

   428

    master->release_cb = ec_master_release_cb;

   429

    master->cb_data = master;

   430

   431

    master->phase = EC_IDLE;

   432

    ret = ec_master_thread_start(master, ec_master_idle_thread,

   433

            "EtherCAT-IDLE");

   434

    if (ret)

   435

        master->phase = EC_ORPHANED;

   436

   437

    return ret;

   438

}

   439

   440

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

   441

   442

/** Transition function from IDLE to ORPHANED phase.

   443

 */

   444

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

   445

{

   446

    if (master->debug_level)

   447

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

   448

   449

    master->phase = EC_ORPHANED;

   450

   451

#ifdef EC_EOE

   452

    ec_master_eoe_stop(master);

   453

#endif

   454

    ec_master_thread_stop(master);

   455

   456

    down(&master->master_sem);

   457

    ec_master_clear_slaves(master);

   458

    up(&master->master_sem);

   459

}

   460

   461

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

   462

   463

/** Transition function from IDLE to OPERATION phase.

   464

 */

   465

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

   466

{

   467

    int ret = 0;

   468

    ec_slave_t *slave;

   469

#ifdef EC_EOE

   470

    ec_eoe_t *eoe;

   471

#endif

   472

   473

    if (master->debug_level)

   474

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

   475

   476

    down(&master->config_sem);

   477

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

   478

    if (master->config_busy) {

   479

        up(&master->config_sem);

   480

   481

        // wait for slave configuration to complete

   482

        ret = wait_event_interruptible(master->config_queue,