1

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

     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

#include <linux/device.h>

    47

#include <linux/version.h>

    48

    49

#include "globals.h"

    50

#include "slave.h"

    51

#include "slave_config.h"

    52

#include "device.h"

    53

#include "datagram.h"

    54

#ifdef EC_EOE

    55

#include "ethernet.h"

    56

#endif

    57

#include "master.h"

    58

    59

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

    60

    61

void ec_master_clear_slave_configs(ec_master_t *);

    62

void ec_master_clear_domains(ec_master_t *);

    63

static int ec_master_idle_thread(void *);

    64

static int ec_master_operation_thread(void *);

    65

#ifdef EC_EOE

    66

void ec_master_eoe_run(unsigned long);

    67

#endif

    68

    69

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

    70

    71

/**

    72

   Master constructor.

    73

   \return 0 in case of success, else < 0

    74

*/

    75

    76

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

    77

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

    78

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

    79

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

    80

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

    81

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

    82

        )

    83

{

    84

    master->index = index;

    85

    master->reserved = 0;

    86

    87

    init_MUTEX(&master->master_sem);

    88

    89

    master->main_mac = main_mac;

    90

    master->backup_mac = backup_mac;

    91

    init_MUTEX(&master->device_sem);

    92

    93

    master->phase = EC_ORPHANED;

    94

    master->injection_seq_fsm = 0;

    95

    master->injection_seq_rt = 0;

    96

    97

    master->slaves = NULL;

    98

    master->slave_count = 0;

    99

   100

    INIT_LIST_HEAD(&master->configs);

   101

   102

    master->scan_busy = 0;

   103

    master->allow_scan = 1;

   104

    init_MUTEX(&master->scan_sem);

   105

    init_waitqueue_head(&master->scan_queue);

   106

   107

    master->config_busy = 0;

   108

    master->allow_config = 1;

   109

    init_MUTEX(&master->config_sem);

   110

    init_waitqueue_head(&master->config_queue);

   111

   112

    INIT_LIST_HEAD(&master->datagram_queue);

   113

    master->datagram_index = 0;

   114

   115

    INIT_LIST_HEAD(&master->domains);

   116

   117

    master->debug_level = 0;

   118

    master->stats.timeouts = 0;

   119

    master->stats.corrupted = 0;

   120

    master->stats.unmatched = 0;

   121

    master->stats.output_jiffies = 0;

   122

    master->frames_timed_out = 0;

   123

   124

    master->thread = NULL;

   125

   126

#ifdef EC_EOE

   127

    init_timer(&master->eoe_timer);

   128

    master->eoe_timer.function = ec_master_eoe_run;

   129

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

   130

    master->eoe_running = 0;

   131

    INIT_LIST_HEAD(&master->eoe_handlers);

   132

#endif

   133

   134

    master->internal_lock = SPIN_LOCK_UNLOCKED;

   135

    master->request_cb = NULL;

   136

    master->release_cb = NULL;

   137

    master->cb_data = NULL;

   138

   139

    INIT_LIST_HEAD(&master->sii_requests);

   140

    init_waitqueue_head(&master->sii_queue);

   141

   142

    INIT_LIST_HEAD(&master->slave_sdo_requests);

   143

    init_waitqueue_head(&master->sdo_queue);

   144

   145

    INIT_LIST_HEAD(&master->phy_requests);

   146

    init_waitqueue_head(&master->phy_queue);

   147

   148

    // init devices

   149

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

   150

        goto out_return;

   151

   152

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

   153

        goto out_clear_main;

   154

   155

    // init state machine datagram

   156

    ec_datagram_init(&master->fsm_datagram);

   157

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

   158

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

   159

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

   160

        goto out_clear_backup;

   161

    }

   162

   163

    // create state machine object

   164

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

   165

   166

    // init character device

   167

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

   168

        goto out_clear_fsm;

   169

   170

#if LINUX_VERSION_CODE < KERNEL_VERSION(2, 6, 15)

   171

    master->class_device = class_device_create(class,

   172

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

   173

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

   174

#else

   175

    master->class_device = class_device_create(class, NULL,

   176

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

   177

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

   178

#endif

   179

    if (IS_ERR(master->class_device)) {

   180

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

   181

        goto out_clear_cdev;

   182

    }

   183

   184

    return 0;

   185

   186

out_clear_cdev:

   187

    ec_cdev_clear(&master->cdev);

   188

out_clear_fsm:

   189

    ec_fsm_master_clear(&master->fsm);

   190

    ec_datagram_clear(&master->fsm_datagram);

   191

out_clear_backup:

   192

    ec_device_clear(&master->backup_device);

   193

out_clear_main:

   194

    ec_device_clear(&master->main_device);

   195

out_return:

   196

    return -1;

   197

}

   198

   199

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

   200

   201

/** Destructor.

   202

*/

   203

void ec_master_clear(

   204

        ec_master_t *master /**< EtherCAT master */

   205

        )

   206

{

   207

    class_device_unregister(master->class_device);

   208

    ec_cdev_clear(&master->cdev);

   209

#ifdef EC_EOE

   210

    ec_master_clear_eoe_handlers(master);

   211

#endif

   212

    ec_master_clear_domains(master);

   213

    ec_master_clear_slave_configs(master);

   214

    ec_master_clear_slaves(master);

   215

    ec_fsm_master_clear(&master->fsm);

   216

    ec_datagram_clear(&master->fsm_datagram);

   217

    ec_device_clear(&master->backup_device);

   218

    ec_device_clear(&master->main_device);

   219

}

   220

   221

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

   222

   223

#ifdef EC_EOE

   224

/** Clear and free all EoE handlers.

   225

 */

   226

void ec_master_clear_eoe_handlers(

   227

        ec_master_t *master /**< EtherCAT master */

   228

        )

   229

{

   230

    ec_eoe_t *eoe, *next;

   231

   232

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

   233

        list_del(&eoe->list);

   234

        ec_eoe_clear(eoe);

   235

        kfree(eoe);

   236

    }

   237

}

   238

#endif

   239

   240

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

   241

   242

/** Clear all slave configurations.

   243

 */

   244

void ec_master_clear_slave_configs(ec_master_t *master)

   245

{

   246

    ec_slave_config_t *sc, *next;

   247

   248

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

   249

        list_del(&sc->list);

   250

        ec_slave_config_clear(sc);

   251

        kfree(sc);

   252

    }

   253

}

   254

   255

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

   256

   257

/** Clear all slaves.

   258

 */

   259

void ec_master_clear_slaves(ec_master_t *master)

   260

{

   261

    ec_slave_t *slave;

   262

   263

    for (slave = master->slaves;

   264

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

   265

            slave++) {

   266

        ec_slave_clear(slave);

   267

    }

   268

   269

    if (master->slaves) {

   270

        kfree(master->slaves);

   271

        master->slaves = NULL;

   272

    }

   273

   274

    master->slave_count = 0;

   275

}

   276

   277

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

   278

   279

/** Clear all domains.

   280

 */

   281

void ec_master_clear_domains(ec_master_t *master)

   282

{

   283

    ec_domain_t *domain, *next;

   284

   285

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

   286

        list_del(&domain->list);

   287

        ec_domain_clear(domain);

   288

        kfree(domain);

   289

    }

   290

}

   291

   292

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

   293

   294

/** Internal locking callback.

   295

 */

   296

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

   297

{

   298

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

   299

    return 0;

   300

}

   301

   302

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

   303

   304

/** Internal unlocking callback.

   305

 */

   306

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

   307

{

   308

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

   309

}

   310

   311

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

   312

   313

/** Starts the master thread.

   314

 */

   315

int ec_master_thread_start(

   316

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

   317

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

   318

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

   319

        )

   320

{

   321

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

   322

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

   323

    if (IS_ERR(master->thread)) {

   324

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

   325

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

   326

        master->thread = NULL;

   327

        return -1;

   328

    }

   329

   330

    return 0;

   331

}

   332

   333

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

   334

   335

/** Stops the master thread.

   336

 */

   337

void ec_master_thread_stop(

   338

        ec_master_t *master /**< EtherCAT master */

   339

        )

   340

{

   341

    unsigned long sleep_jiffies;

   342

   343

    if (!master->thread) {

   344

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

   345

        return;

   346

    }

   347

   348

    if (master->debug_level)

   349

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

   350

   351

    kthread_stop(master->thread);

   352

    master->thread = NULL;

   353

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

   354

   355

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

   356

        return;

   357

   358

    // wait for FSM datagram

   359

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

   360

    schedule_timeout(sleep_jiffies);

   361

}

   362

   363

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

   364

   365

/** Transition function from ORPHANED to IDLE phase.

   366

 */

   367

int ec_master_enter_idle_phase(

   368

        ec_master_t *master /**< EtherCAT master */

   369

        )

   370

{

   371

    if (master->debug_level)

   372

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

   373

   374

    master->request_cb = ec_master_request_cb;

   375

    master->release_cb = ec_master_release_cb;

   376

    master->cb_data = master;

   377

   378

    master->phase = EC_IDLE;

   379

    if (ec_master_thread_start(master, ec_master_idle_thread,

   380

                "EtherCAT-IDLE")) {

   381

        master->phase = EC_ORPHANED;

   382

        return -1;

   383

    }

   384

   385

    return 0;

   386

}

   387

   388

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

   389

   390

/** Transition function from IDLE to ORPHANED phase.

   391

 */

   392

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

   393

{

   394

    if (master->debug_level)

   395

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

   396

   397

    master->phase = EC_ORPHANED;

   398

   399

#ifdef EC_EOE

   400

    ec_master_eoe_stop(master);

   401

#endif

   402

    ec_master_thread_stop(master);

   403

   404

    down(&master->master_sem);

   405

    ec_master_clear_slaves(master);

   406

    up(&master->master_sem);

   407

}

   408

   409

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

   410

   411

/** Transition function from IDLE to OPERATION phase.

   412

 */

   413

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

   414

{

   415

    ec_slave_t *slave;

   416

#ifdef EC_EOE

   417

    ec_eoe_t *eoe;

   418

#endif

   419

   420

    if (master->debug_level)

   421

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

   422

   423

    down(&master->config_sem);

   424

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

   425

    if (master->config_busy) {

   426

        up(&master->config_sem);

   427

   428

        // wait for slave configuration to complete

   429

        if (wait_event_interruptible(master->config_queue,

   430

                    !master->config_busy)) {

   431

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

   432

            goto out_allow;

   433

        }

   434

   435

        if (master->debug_level)

   436

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

   437

    } else {

   438

        up(&master->config_sem);

   439

    }

   440

   441

    down(&master->scan_sem);

   442

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

   443

    if (!master->scan_busy) {

   444

        up(&master->scan_sem);

   445

    } else {

   446

        up(&master->scan_sem);

   447

   448

        // wait for slave scan to complete

   449

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

   450

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

   451

            goto out_allow;

   452

        }

   453

   454

        if (master->debug_level)

   455

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

   456

    }

   457

   458

    // set states for all slaves

   459

    for (slave = master->slaves;

   460

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

   461

            slave++) {

   462

        ec_slave_request_state(slave, EC_SLAVE_STATE_PREOP);

   463

    }

   464

#ifdef EC_EOE

   465

    // ... but set EoE slaves to OP

   466

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

   467

        if (ec_eoe_is_open(eoe))

   468

            ec_slave_request_state(eoe->slave, EC_SLAVE_STATE_OP);

   469

    }

   470

#endif

   471

   472

    master->phase = EC_OPERATION;

   473

    master->ext_request_cb = NULL;

   474

    master->ext_release_cb = NULL;

   475

    master->ext_cb_data = NULL;

   476

    return 0;

   477

   478

out_allow:

   479

    master->allow_scan = 1;

   480

    master->allow_config = 1;

   481

    return -1;

   482

}

   483