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.

    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

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

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 *  the industrial property and similar rights of Beckhoff Automation GmbH.

    24

 *

    25

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

    26

    27

/**

    28

   \file

    29

   EtherCAT master methods.

    30

*/

    31

    32

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

    33

    34

#include <linux/module.h>

    35

#include <linux/kernel.h>

    36

#include <linux/string.h>

    37

#include <linux/slab.h>

    38

#include <linux/delay.h>

    39

#include <linux/device.h>

    40

#include <linux/version.h>

    41

    42

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

    43

#include "globals.h"

    44

#include "slave.h"

    45

#include "slave_config.h"

    46

#include "device.h"

    47

#include "datagram.h"

    48

#ifdef EC_EOE

    49

#include "ethernet.h"

    50

#endif

    51

#include "master.h"

    52

    53

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

    54

    55

#ifdef EC_HAVE_CYCLES

    56

    57

/** Frame timeout in cycles.

    58

 */

    59

static cycles_t timeout_cycles;

    60

    61

#else

    62

    63

/** Frame timeout in jiffies.

    64

 */

    65

static unsigned long timeout_jiffies;

    66

    67

#endif

    68

    69

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

    70

    71

void ec_master_clear_slave_configs(ec_master_t *);

    72

void ec_master_clear_domains(ec_master_t *);

    73

static int ec_master_idle_thread(void *);

    74

static int ec_master_operation_thread(void *);

    75

#ifdef EC_EOE

    76

void ec_master_eoe_run(unsigned long);

    77

#endif

    78

    79

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

    80

    81

/** Static variables initializer.

    82

*/

    83

void ec_master_init_static(void)

    84

{

    85

#ifdef EC_HAVE_CYCLES

    86

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

    87

#else

    88

    // one jiffy may always elapse between time measurement

    89

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

    90

#endif

    91

}

    92

    93

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

    94

    95

/**

    96

   Master constructor.

    97

   \return 0 in case of success, else < 0

    98

*/

    99

   100

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

   101

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

   102

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

   103

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

   104

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

   105

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

   106

        )

   107

{

   108

    master->index = index;

   109

    master->reserved = 0;

   110

   111

    init_MUTEX(&master->master_sem);

   112

   113

    master->main_mac = main_mac;

   114

    master->backup_mac = backup_mac;

   115

    init_MUTEX(&master->device_sem);

   116

   117

    master->phase = EC_ORPHANED;

   118

    master->injection_seq_fsm = 0;

   119

    master->injection_seq_rt = 0;

   120

   121

    master->slaves = NULL;

   122

    master->slave_count = 0;

   123

   124

    INIT_LIST_HEAD(&master->configs);

   125

   126

    master->scan_busy = 0;

   127

    master->allow_scan = 1;

   128

    init_MUTEX(&master->scan_sem);

   129

    init_waitqueue_head(&master->scan_queue);

   130

   131

    master->config_busy = 0;

   132

    master->allow_config = 1;

   133

    init_MUTEX(&master->config_sem);

   134

    init_waitqueue_head(&master->config_queue);

   135

   136

    INIT_LIST_HEAD(&master->datagram_queue);

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    master->datagram_index = 0;

   138

   139

    INIT_LIST_HEAD(&master->domains);

   140

   141

    master->debug_level = 0;

   142

    master->stats.timeouts = 0;

   143

    master->stats.corrupted = 0;

   144

    master->stats.unmatched = 0;

   145

    master->stats.output_jiffies = 0;

   146

    master->frames_timed_out = 0;

   147

   148

    master->thread = NULL;

   149

   150

#ifdef EC_EOE

   151

    init_timer(&master->eoe_timer);

   152

    master->eoe_timer.function = ec_master_eoe_run;

   153

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

   154

    master->eoe_running = 0;

   155

    INIT_LIST_HEAD(&master->eoe_handlers);

   156

#endif

   157

   158

    master->internal_lock = SPIN_LOCK_UNLOCKED;

   159

    master->request_cb = NULL;

   160

    master->release_cb = NULL;

   161

    master->cb_data = NULL;

   162

   163

    INIT_LIST_HEAD(&master->sii_requests);

   164

    init_waitqueue_head(&master->sii_queue);

   165

   166

    INIT_LIST_HEAD(&master->slave_sdo_requests);

   167

    init_waitqueue_head(&master->sdo_queue);

   168

   169

    // init devices

   170

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

   171

        goto out_return;

   172

   173

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

   174

        goto out_clear_main;

   175

   176

    // init state machine datagram

   177

    ec_datagram_init(&master->fsm_datagram);

   178

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

   179

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

   180

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

   181

        goto out_clear_backup;

   182

    }

   183

   184

    // create state machine object

   185

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

   186

   187

    // init character device

   188

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

   189

        goto out_clear_fsm;

   190

   191

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

   192

    master->class_device = device_create(class, NULL,

   193

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

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

   195

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

   196

    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);

   199

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

   200

    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);

   203

#else

   204

    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);

   207

#endif

   208

    if (IS_ERR(master->class_device)) {

   209

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

   210

        goto out_clear_cdev;

   211

    }

   212

   213

    return 0;

   214

   215

out_clear_cdev:

   216

    ec_cdev_clear(&master->cdev);

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out_clear_fsm:

   218

    ec_fsm_master_clear(&master->fsm);

   219

    ec_datagram_clear(&master->fsm_datagram);

   220

out_clear_backup:

   221

    ec_device_clear(&master->backup_device);

   222

out_clear_main:

   223

    ec_device_clear(&master->main_device);

   224

out_return:

   225

    return -1;

   226

}

   227

   228

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

   229

   230

/** Destructor.

   231

*/

   232

void ec_master_clear(

   233

        ec_master_t *master /**< EtherCAT master */

   234

        )

   235

{

   236

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

   237

    device_unregister(master->class_device);

   238

#else

   239

    class_device_unregister(master->class_device);

   240

#endif

   241

   242

    ec_cdev_clear(&master->cdev);

   243

#ifdef EC_EOE

   244

    ec_master_clear_eoe_handlers(master);

   245

#endif

   246

    ec_master_clear_domains(master);

   247

    ec_master_clear_slave_configs(master);

   248

    ec_master_clear_slaves(master);

   249

    ec_fsm_master_clear(&master->fsm);

   250

    ec_datagram_clear(&master->fsm_datagram);

   251

    ec_device_clear(&master->backup_device);

   252

    ec_device_clear(&master->main_device);

   253

}

   254

   255

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

   256

   257

#ifdef EC_EOE

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/** Clear and free all EoE handlers.

   259

 */

   260

void ec_master_clear_eoe_handlers(

   261

        ec_master_t *master /**< EtherCAT master */

   262

        )

   263

{

   264

    ec_eoe_t *eoe, *next;

   265

   266

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

   267

        list_del(&eoe->list);

   268

        ec_eoe_clear(eoe);

   269

        kfree(eoe);

   270

    }

   271

}

   272

#endif

   273

   274

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

   275

   276

/** Clear all slave configurations.

   277

 */

   278

void ec_master_clear_slave_configs(ec_master_t *master)

   279

{

   280

    ec_slave_config_t *sc, *next;

   281

   282

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

   283

        list_del(&sc->list);

   284

        ec_slave_config_clear(sc);

   285

        kfree(sc);

   286

    }

   287

}

   288

   289

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

   290

   291

/** Clear all slaves.

   292

 */

   293

void ec_master_clear_slaves(ec_master_t *master)

   294

{

   295

    ec_slave_t *slave;

   296

   297

    for (slave = master->slaves;

   298

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

   299

            slave++) {

   300

        ec_slave_clear(slave);

   301

    }

   302

   303

    if (master->slaves) {

   304

        kfree(master->slaves);

   305

        master->slaves = NULL;

   306

    }

   307

   308

    master->slave_count = 0;

   309

}

   310

   311

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

   312

   313

/** Clear all domains.

   314

 */

   315

void ec_master_clear_domains(ec_master_t *master)

   316

{

   317

    ec_domain_t *domain, *next;

   318

   319

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

   320

        list_del(&domain->list);

   321

        ec_domain_clear(domain);

   322

        kfree(domain);

   323

    }

   324

}

   325

   326

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

   327

   328

/** Internal locking callback.

   329

 */

   330

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

   331

{

   332

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

   333

    return 0;

   334

}

   335

   336

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

   337

   338

/** Internal unlocking callback.

   339

 */

   340

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

   341

{

   342

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

   343

}

   344

   345

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

   346

   347

/** Starts the master thread.

   348

 */

   349

int ec_master_thread_start(

   350

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

   351

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

   352

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

   353

        )

   354

{

   355

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

   356

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

   357

    if (IS_ERR(master->thread)) {

   358

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

   359

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

   360

        master->thread = NULL;

   361

        return -1;

   362

    }

   363

   364

    return 0;

   365

}

   366

   367

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

   368

   369

/** Stops the master thread.

   370

 */

   371

void ec_master_thread_stop(

   372

        ec_master_t *master /**< EtherCAT master */

   373

        )

   374

{

   375

    unsigned long sleep_jiffies;

   376

   377

    if (!master->thread) {

   378

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

   379

        return;

   380

    }

   381

   382

    if (master->debug_level)

   383

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

   384

   385

    kthread_stop(master->thread);

   386

    master->thread = NULL;

   387

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

   388

   389

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

   390

        return;

   391

   392

    // wait for FSM datagram

   393

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

   394

    schedule_timeout(sleep_jiffies);

   395

}

   396

   397

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

   398

   399

/** Transition function from ORPHANED to IDLE phase.

   400

 */

   401

int ec_master_enter_idle_phase(

   402

        ec_master_t *master /**< EtherCAT master */

   403

        )

   404

{

   405

    if (master->debug_level)

   406

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

   407

   408

    master->request_cb = ec_master_request_cb;

   409

    master->release_cb = ec_master_release_cb;

   410

    master->cb_data = master;

   411

   412

    master->phase = EC_IDLE;

   413

    if (ec_master_thread_start(master, ec_master_idle_thread,

   414

                "EtherCAT-IDLE")) {

   415

        master->phase = EC_ORPHANED;

   416

        return -1;

   417

    }

   418

   419

    return 0;

   420

}

   421

   422

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

   423

   424

/** Transition function from IDLE to ORPHANED phase.

   425

 */

   426

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

   427

{

   428

    if (master->debug_level)

   429

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

   430

   431

    master->phase = EC_ORPHANED;

   432

   433

#ifdef EC_EOE

   434

    ec_master_eoe_stop(master);

   435

#endif

   436

    ec_master_thread_stop(master);

   437

   438

    down(&master->master_sem);

   439

    ec_master_clear_slaves(master);

   440

    up(&master->master_sem);

   441

}

   442

   443

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

   444

   445

/** Transition function from IDLE to OPERATION phase.

   446

 */

   447

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

   448

{

   449

    ec_slave_t *slave;

   450

#ifdef EC_EOE

   451

    ec_eoe_t *eoe;

   452

#endif

   453

   454

    if (master->debug_level)

   455

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

   456

   457

    down(&master->config_sem);

   458

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

   459

    if (master->config_busy) {

   460

        up(&master->config_sem);

   461

   462

        // wait for slave configuration to complete

   463

        if (wait_event_interruptible(master->config_queue,

   464

                    !master->config_busy)) {

   465

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

   466

            goto out_allow;

   467

        }

   468

   469

        if (master->debug_level)

   470

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

   471

    } else {

   472

        up(&master->config_sem);

   473

    }

   474

   475

    down(&master->scan_sem);

   476

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

   477

    if (!master->scan_busy) {

   478

        up(&master->scan_sem);

   479

    } else {

   480

        up(&master->scan_sem);

   481

   482

        // wait for slave scan to complete

   483

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

   484