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

     2

 *

     3

 *  $Id$

     4

 *

     5

 *  Copyright (C) 2006  Florian Pose, Ingenieurgemeinschaft IgH

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 *

     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

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 *  License, or (at your option) any later version.

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 *

    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

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 *  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

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 *

    23

 *  The right to use EtherCAT Technology is granted and comes free of

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 *  charge under condition of compatibility of product made by

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 *  Licensee. People intending to distribute/sell products based on the

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 *  code, have to sign an agreement to guarantee that products using

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 *  software based on IgH EtherCAT master stay compatible with the actual

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 *  EtherCAT specification (which are released themselves as an open

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 *  standard) as the (only) precondition to have the right to use EtherCAT

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 *  Technology, IP and trade marks.

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 *

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

    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"

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#include "master.h"

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#include "slave.h"

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#include "types.h"

    52

#include "device.h"

    53

#include "command.h"

    54

#include "ethernet.h"

    55

    56

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

    57

    58

void ec_master_freerun(void *);

    59

void ec_master_eoe_run(unsigned long);

    60

ssize_t ec_show_master_attribute(struct kobject *, struct attribute *, char *);

    61

    62

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

    63

    64

/** \cond */

    65

    66

EC_SYSFS_READ_ATTR(slave_count);

    67

EC_SYSFS_READ_ATTR(mode);

    68

    69

static struct attribute *ec_def_attrs[] = {

    70

    &attr_slave_count,

    71

    &attr_mode,

    72

    NULL,

    73

};

    74

    75

static struct sysfs_ops ec_sysfs_ops = {

    76

    .show = &ec_show_master_attribute,

    77

    .store = NULL

    78

};

    79

    80

static struct kobj_type ktype_ec_master = {

    81

    .release = ec_master_clear,

    82

    .sysfs_ops = &ec_sysfs_ops,

    83

    .default_attrs = ec_def_attrs

    84

};

    85

    86

/** \endcond */

    87

    88

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

    89

    90

/**

    91

   Master constructor.

    92

   \return 0 in case of success, else < 0

    93

*/

    94

    95

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

    96

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

    97

                   unsigned int eoe_devices /**< number of EoE devices */

    98

                   )

    99

{

   100

    ec_eoe_t *eoe, *next_eoe;

   101

    unsigned int i;

   102

   103

    EC_INFO("Initializing master %i.\n", index);

   104

   105

    master->index = index;

   106

    master->device = NULL;

   107

    master->reserved = 0;

   108

    INIT_LIST_HEAD(&master->slaves);

   109

    INIT_LIST_HEAD(&master->command_queue);

   110

    INIT_LIST_HEAD(&master->domains);

   111

    INIT_LIST_HEAD(&master->eoe_handlers);

   112

    ec_command_init(&master->simple_command);

   113

    INIT_WORK(&master->freerun_work, ec_master_freerun, (void *) master);

   114

    init_timer(&master->eoe_timer);

   115

    master->eoe_timer.function = ec_master_eoe_run;

   116

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

   117

    master->internal_lock = SPIN_LOCK_UNLOCKED;

   118

    master->eoe_running = 0;

   119

   120

    // create workqueue

   121

    if (!(master->workqueue = create_singlethread_workqueue("EtherCAT"))) {

   122

        EC_ERR("Failed to create master workqueue.\n");

   123

        goto out_return;

   124

    }

   125

   126

    // create EoE handlers

   127

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

   128

        if (!(eoe = (ec_eoe_t *) kmalloc(sizeof(ec_eoe_t), GFP_KERNEL))) {

   129

            EC_ERR("Failed to allocate EoE-Object.\n");

   130

            goto out_clear_eoe;

   131

        }

   132

        if (ec_eoe_init(eoe)) {

   133

            kfree(eoe);

   134

            goto out_clear_eoe;

   135

        }

   136

        list_add_tail(&eoe->list, &master->eoe_handlers);

   137

    }

   138

   139

    // create state machine object

   140

    if (ec_fsm_init(&master->fsm, master)) goto out_clear_eoe;

   141

   142

    // init kobject and add it to the hierarchy

   143

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

   144

    kobject_init(&master->kobj);

   145

    master->kobj.ktype = &ktype_ec_master;

   146

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

   147

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

   148

        kobject_put(&master->kobj);

   149

        return -1;

   150

    }

   151

   152

    ec_master_reset(master);

   153

    return 0;

   154

   155

 out_clear_eoe:

   156

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

   157

        list_del(&eoe->list);

   158

        ec_eoe_clear(eoe);

   159

        kfree(eoe);

   160

    }

   161

    destroy_workqueue(master->workqueue);

   162

 out_return:

   163

    return -1;

   164

}

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   166

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

   167

   168

/**

   169

   Master destructor.

   170

   Removes all pending commands, clears the slave list, clears all domains

   171

   and frees the device.

   172

*/

   173

   174

void ec_master_clear(struct kobject *kobj /**< kobject of the master */)

   175

{

   176

    ec_master_t *master = container_of(kobj, ec_master_t, kobj);

   177

    ec_eoe_t *eoe, *next_eoe;

   178

   179

    EC_INFO("Clearing master %i...\n", master->index);

   180

   181

    ec_master_reset(master);

   182

    ec_fsm_clear(&master->fsm);

   183

    ec_command_clear(&master->simple_command);

   184

    destroy_workqueue(master->workqueue);

   185

   186

    // clear EoE objects

   187

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

   188

        list_del(&eoe->list);

   189

        ec_eoe_clear(eoe);

   190

        kfree(eoe);

   191

    }

   192

   193

    if (master->device) {

   194

        ec_device_clear(master->device);

   195

        kfree(master->device);

   196

    }

   197

   198

    EC_INFO("Master %i cleared.\n", master->index);

   199

}

   200

   201

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

   202

   203

/**

   204

   Resets the master.

   205

   Note: This function has to be called, everytime ec_master_release() is

   206

   called, to free the slave list, domains etc.

   207

*/

   208

   209

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

   210

{

   211

    ec_command_t *command, *next_c;

   212

    ec_domain_t *domain, *next_d;

   213

   214

    ec_master_eoe_stop(master);

   215

    ec_master_freerun_stop(master);

   216

    ec_master_clear_slaves(master);

   217

   218

    // empty command queue

   219

    list_for_each_entry_safe(command, next_c, &master->command_queue, queue) {

   220

        list_del_init(&command->queue);

   221

        command->state = EC_CMD_ERROR;

   222

    }

   223

   224

    // clear domains

   225

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

   226

        list_del(&domain->list);

   227

        kobject_del(&domain->kobj);

   228

        kobject_put(&domain->kobj);

   229

    }

   230

   231

    master->command_index = 0;

   232

    master->debug_level = 0;

   233

    master->timeout = 500; // 500us

   234

   235

    master->stats.timeouts = 0;

   236

    master->stats.delayed = 0;

   237

    master->stats.corrupted = 0;

   238

    master->stats.unmatched = 0;

   239

    master->stats.t_last = 0;

   240

   241

    master->mode = EC_MASTER_MODE_IDLE;

   242

   243

    master->request_cb = NULL;

   244

    master->release_cb = NULL;

   245

    master->cb_data = NULL;

   246

   247

    ec_fsm_reset(&master->fsm);

   248

}

   249

   250

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

   251

   252

/**

   253

   Clears all slaves.

   254

*/

   255

   256

void ec_master_clear_slaves(ec_master_t *master)

   257

{

   258

    ec_slave_t *slave, *next_slave;

   259

   260

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

   261

        list_del(&slave->list);

   262

        kobject_del(&slave->kobj);

   263

        kobject_put(&slave->kobj);

   264

    }

   265

    master->slave_count = 0;

   266

}

   267

   268

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

   269

   270

/**

   271

   Places a command in the command queue.

   272

*/

   273

   274

void ec_master_queue_command(ec_master_t *master, /**< EtherCAT master */

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                             ec_command_t *command /**< command */

   276

                             )

   277

{

   278

    ec_command_t *queued_command;

   279

   280

    // check, if the command is already queued

   281

    list_for_each_entry(queued_command, &master->command_queue, queue) {

   282

        if (queued_command == command) {

   283

            command->state = EC_CMD_QUEUED;

   284

            if (unlikely(master->debug_level))

   285

                EC_WARN("command already queued.\n");

   286

            return;

   287

        }

   288

    }

   289

   290

    list_add_tail(&command->queue, &master->command_queue);

   291

    command->state = EC_CMD_QUEUED;

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}

   293

   294

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

   295

   296

/**

   297

   Sends the commands in the queue.

   298

   \return 0 in case of success, else < 0

   299

*/

   300

   301

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

   302

{

   303

    ec_command_t *command;

   304

    size_t command_size;

   305

    uint8_t *frame_data, *cur_data;

   306

    void *follows_word;

   307

    cycles_t t_start, t_end;

   308

    unsigned int frame_count, more_commands_waiting;

   309

   310

    frame_count = 0;

   311

    t_start = get_cycles();

   312

   313

    if (unlikely(master->debug_level > 0))

   314

        EC_DBG("ec_master_send_commands\n");

   315

   316

    do {

   317

        // fetch pointer to transmit socket buffer

   318

        frame_data = ec_device_tx_data(master->device);

   319

        cur_data = frame_data + EC_FRAME_HEADER_SIZE;

   320

        follows_word = NULL;

   321

        more_commands_waiting = 0;

   322

   323

        // fill current frame with commands

   324

        list_for_each_entry(command, &master->command_queue, queue) {

   325

            if (command->state != EC_CMD_QUEUED) continue;

   326

   327

            // does the current command fit in the frame?

   328

            command_size = EC_COMMAND_HEADER_SIZE + command->data_size

   329

                + EC_COMMAND_FOOTER_SIZE;

   330

            if (cur_data - frame_data + command_size > ETH_DATA_LEN) {

   331

                more_commands_waiting = 1;

   332

                break;

   333

            }

   334

   335

            command->state = EC_CMD_SENT;

   336

            command->t_sent = t_start;

   337

            command->index = master->command_index++;

   338

   339

            if (unlikely(master->debug_level > 0))

   340

                EC_DBG("adding command 0x%02X\n", command->index);

   341

   342

            // set "command following" flag in previous frame

   343

            if (follows_word)

   344

                EC_WRITE_U16(follows_word, EC_READ_U16(follows_word) | 0x8000);

   345

   346

            // EtherCAT command header

   347

            EC_WRITE_U8 (cur_data,     command->type);

   348

            EC_WRITE_U8 (cur_data + 1, command->index);

   349

            EC_WRITE_U32(cur_data + 2, command->address.logical);

   350

            EC_WRITE_U16(cur_data + 6, command->data_size & 0x7FF);

   351

            EC_WRITE_U16(cur_data + 8, 0x0000);

   352

            follows_word = cur_data + 6;

   353

            cur_data += EC_COMMAND_HEADER_SIZE;

   354

   355

            // EtherCAT command data

   356

            memcpy(cur_data, command->data, command->data_size);

   357

            cur_data += command->data_size;

   358

   359

            // EtherCAT command footer

   360

            EC_WRITE_U16(cur_data, 0x0000); // reset working counter

   361

            cur_data += EC_COMMAND_FOOTER_SIZE;

   362

        }

   363

   364

        if (cur_data - frame_data == EC_FRAME_HEADER_SIZE) {

   365

            if (unlikely(master->debug_level > 0))

   366

                EC_DBG("nothing to send.\n");

   367

            break;

   368

        }

   369

   370

        // EtherCAT frame header

   371

        EC_WRITE_U16(frame_data, ((cur_data - frame_data

   372

                                   - EC_FRAME_HEADER_SIZE) & 0x7FF) | 0x1000);

   373

   374

        // pad frame

   375

        while (cur_data - frame_data < ETH_ZLEN - ETH_HLEN)

   376

            EC_WRITE_U8(cur_data++, 0x00);

   377

   378

        if (unlikely(master->debug_level > 0))

   379

            EC_DBG("frame size: %i\n", cur_data - frame_data);

   380

   381

        // send frame

   382

        ec_device_send(master->device, cur_data - frame_data);

   383

        frame_count++;

   384

    }

   385

    while (more_commands_waiting);

   386

   387

    if (unlikely(master->debug_level > 0)) {

   388

        t_end = get_cycles();

   389

        EC_DBG("ec_master_send_commands sent %i frames in %ius.\n",

   390

               frame_count, (u32) (t_end - t_start) * 1000 / cpu_khz);

   391

    }

   392

}

   393

   394

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

   395

   396

/**

   397

   Processes a received frame.

   398

   This function is called by the network driver for every received frame.

   399

   \return 0 in case of success, else < 0

   400

*/

   401

   402

void ec_master_receive(ec_master_t *master, /**< EtherCAT master */

   403

                       const uint8_t *frame_data, /**< received data */

   404

                       size_t size /**< size of the received data */

   405

                       )

   406

{

   407

    size_t frame_size, data_size;

   408

    uint8_t command_type, command_index;

   409

    unsigned int cmd_follows, matched;

   410

    const uint8_t *cur_data;

   411

    ec_command_t *command;

   412

   413

    if (unlikely(size < EC_FRAME_HEADER_SIZE)) {

   414

        master->stats.corrupted++;

   415

        ec_master_output_stats(master);

   416

        return;

   417

    }

   418

   419

    cur_data = frame_data;

   420

   421

    // check length of entire frame

   422

    frame_size = EC_READ_U16(cur_data) & 0x07FF;

   423

    cur_data += EC_FRAME_HEADER_SIZE;

   424

   425

    if (unlikely(frame_size > size)) {

   426

        master->stats.corrupted++;

   427

        ec_master_output_stats(master);

   428

        return;

   429

    }

   430

   431

    cmd_follows = 1;

   432

    while (cmd_follows) {

   433

        // process command header

   434

        command_type  = EC_READ_U8 (cur_data);

   435

        command_index = EC_READ_U8 (cur_data + 1);

   436

        data_size     = EC_READ_U16(cur_data + 6) & 0x07FF;

   437

        cmd_follows   = EC_READ_U16(cur_data + 6) & 0x8000;

   438

        cur_data += EC_COMMAND_HEADER_SIZE;

   439

   440

        if (unlikely(cur_data - frame_data

   441

                     + data_size + EC_COMMAND_FOOTER_SIZE > size)) {

   442

            master->stats.corrupted++;

   443

            ec_master_output_stats(master);

   444

            return;

   445

        }

   446

   447

        // search for matching command in the queue

   448

        matched = 0;

   449

        list_for_each_entry(command, &master->command_queue, queue) {

   450

            if (command->state == EC_CMD_SENT

   451

                && command->type == command_type

   452

                && command->index == command_index

   453

                && command->data_size == data_size) {

   454

                matched = 1;

   455

                break;

   456

            }

   457

        }

   458

   459

        // no matching command was found

   460

        if (!matched) {

   461

            master->stats.unmatched++;

   462

            ec_master_output_stats(master);

   463

            cur_data += data_size + EC_COMMAND_FOOTER_SIZE;

   464

            continue;

   465

        }

   466

   467

        // copy received data in the command memory

   468

        memcpy(command->data, cur_data, data_size);

   469

        cur_data += data_size;

   470

   471

        // set the command's working counter

   472

        command->working_counter = EC_READ_U16(cur_data);

   473

        cur_data += EC_COMMAND_FOOTER_SIZE;

   474

   475

        // dequeue the received command

   476

        command->state = EC_CMD_RECEIVED;

   477

        list_del_init(&command->queue);

   478

    }

   479

}

   480

   481

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

   482

   483

/**

   484

   Sends a single command and waits for its reception.

   485

   If the slave doesn't respond, the command is sent again.

   486

   \return 0 in case of success, else < 0

   487

*/