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

    47

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

    48

#include "globals.h"

    49

#include "master.h"

    50

#include "slave.h"

    51

#include "device.h"

    52

#include "datagram.h"

    53

#include "ethernet.h"

    54

    55

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

    56

    57

void ec_master_clear(struct kobject *);

    58

void ec_master_destroy_domains(ec_master_t *);

    59

void ec_master_sync_io(ec_master_t *);

    60

void ec_master_idle_run(void *);

    61

void ec_master_eoe_run(unsigned long);

    62

void ec_master_check_sdo(unsigned long);

    63

int ec_master_measure_bus_time(ec_master_t *);

    64

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

    65

ssize_t ec_store_master_attribute(struct kobject *, struct attribute *,

    66

                                  const char *, size_t);

    67

    68

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

    69

    70

/** \cond */

    71

    72

EC_SYSFS_READ_ATTR(info);

    73

EC_SYSFS_READ_WRITE_ATTR(eeprom_write_enable);

    74

EC_SYSFS_READ_WRITE_ATTR(debug_level);

    75

    76

static struct attribute *ec_def_attrs[] = {

    77

    &attr_info,

    78

    &attr_eeprom_write_enable,

    79

    &attr_debug_level,

    80

    NULL,

    81

};

    82

    83

static struct sysfs_ops ec_sysfs_ops = {

    84

    .show = &ec_show_master_attribute,

    85

    .store = ec_store_master_attribute

    86

};

    87

    88

static struct kobj_type ktype_ec_master = {

    89

    .release = ec_master_clear,

    90

    .sysfs_ops = &ec_sysfs_ops,

    91

    .default_attrs = ec_def_attrs

    92

};

    93

    94

/** \endcond */

    95

    96

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

    97

    98

/**

    99

   Master constructor.

   100

   \return 0 in case of success, else < 0

   101

*/

   102

   103

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

   104

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

   105

                   unsigned int eoeif_count, /**< number of EoE interfaces */

   106

                   dev_t dev_num /**< number for XML cdev's */

   107

                   )

   108

{

   109

    ec_eoe_t *eoe, *next_eoe;

   110

    unsigned int i;

   111

   112

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

   113

   114

    atomic_set(&master->available, 1);

   115

    master->index = index;

   116

   117

    master->device = NULL;

   118

    init_MUTEX(&master->device_sem);

   119

   120

    master->mode = EC_MASTER_MODE_ORPHANED;

   121

   122

    INIT_LIST_HEAD(&master->slaves);

   123

    master->slave_count = 0;

   124

   125

    INIT_LIST_HEAD(&master->datagram_queue);

   126

    master->datagram_index = 0;

   127

   128

    INIT_LIST_HEAD(&master->domains);

   129

    master->debug_level = 0;

   130

   131

    master->stats.timeouts = 0;

   132

    master->stats.corrupted = 0;

   133

    master->stats.skipped = 0;

   134

    master->stats.unmatched = 0;

   135

    master->stats.output_jiffies = 0;

   136

   137

    INIT_WORK(&master->idle_work, ec_master_idle_run, (void *) master);

   138

   139

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

   140

        master->idle_cycle_times[i] = 0;

   141

        master->eoe_cycle_times[i] = 0;

   142

    }

   143

    master->idle_cycle_time_pos = 0;

   144

    master->eoe_cycle_time_pos = 0;

   145

   146

    init_timer(&master->eoe_timer);

   147

    master->eoe_timer.function = ec_master_eoe_run;

   148

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

   149

    master->eoe_running = 0;

   150

    master->eoe_checked = 0;

   151

    INIT_LIST_HEAD(&master->eoe_handlers);

   152

   153

    master->internal_lock = SPIN_LOCK_UNLOCKED;

   154

    master->request_cb = NULL;

   155

    master->release_cb = NULL;

   156

    master->cb_data = NULL;

   157

   158

    master->eeprom_write_enable = 0;

   159

   160

    master->sdo_request = NULL;

   161

    master->sdo_seq_user = 0;

   162

    master->sdo_seq_master = 0;

   163

    init_MUTEX(&master->sdo_sem);

   164

    init_timer(&master->sdo_timer);

   165

    master->sdo_timer.function = ec_master_check_sdo;

   166

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

   167

    init_completion(&master->sdo_complete);

   168

   169

    // create workqueue

   170

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

   171

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

   172

        goto out_return;

   173

    }

   174

   175

    // init XML character device

   176

    if (ec_xmldev_init(&master->xmldev, master, dev_num)) {

   177

        EC_ERR("Failed to init XML character device.\n");

   178

        goto out_clear_wq;

   179

    }

   180

   181

    // create EoE handlers

   182

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

   183

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

   184

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

   185

            goto out_clear_eoe;

   186

        }

   187

        if (ec_eoe_init(eoe)) {

   188

            kfree(eoe);

   189

            goto out_clear_eoe;

   190

        }

   191

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

   192

    }

   193

   194

    // create state machine object

   195

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

   196

   197

    // init kobject and add it to the hierarchy

   198

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

   199

    kobject_init(&master->kobj);

   200

    master->kobj.ktype = &ktype_ec_master;

   201

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

   202

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

   203

        kobject_put(&master->kobj);

   204

        return -1;

   205

    }

   206

    if (kobject_add(&master->kobj)) {

   207

        EC_ERR("Failed to add master kobj.\n");

   208

        kobject_put(&master->kobj);

   209

        return -1;

   210

    }

   211

   212

    return 0;

   213

   214

 out_clear_eoe:

   215

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

   216

        list_del(&eoe->list);

   217

        ec_eoe_clear(eoe);

   218

        kfree(eoe);

   219

    }

   220

    ec_xmldev_clear(&master->xmldev);

   221

 out_clear_wq:

   222

    destroy_workqueue(master->workqueue);

   223

 out_return:

   224

    return -1;

   225

}

   226

   227

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

   228

   229

/**

   230

   Master destructor.

   231

   Clears the kobj-hierarchy bottom up and frees the master.

   232

*/

   233

   234

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

   235

{

   236

    ec_master_destroy_slaves(master);

   237

    ec_master_destroy_domains(master);

   238

   239

    // destroy self

   240

    kobject_del(&master->kobj);

   241

    kobject_put(&master->kobj); // free master

   242

}

   243

   244

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

   245

   246

/**

   247

   Clear and free master.

   248

   This method is called by the kobject,

   249

   once there are no more references to it.

   250

*/

   251

   252

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

   253

{

   254

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

   255

    ec_eoe_t *eoe, *next_eoe;

   256

    ec_datagram_t *datagram, *next_datagram;

   257

   258

    // dequeue all datagrams

   259

    list_for_each_entry_safe(datagram, next_datagram,

   260

                             &master->datagram_queue, queue) {

   261

        datagram->state = EC_DATAGRAM_ERROR;

   262

        list_del_init(&datagram->queue);

   263

    }

   264

   265

    ec_fsm_clear(&master->fsm);

   266

    destroy_workqueue(master->workqueue);

   267

    ec_xmldev_clear(&master->xmldev);

   268

   269

    // clear EoE objects

   270

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

   271

        list_del(&eoe->list);

   272

        ec_eoe_clear(eoe);

   273

        kfree(eoe);

   274

    }

   275

   276

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

   277

   278

    kfree(master);

   279

}

   280

   281

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

   282

   283

/**

   284

   Destroy all slaves.

   285

*/

   286

   287

void ec_master_destroy_slaves(ec_master_t *master)

   288

{

   289

    ec_slave_t *slave, *next_slave;

   290

   291

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

   292

        list_del(&slave->list);

   293

        ec_slave_destroy(slave);

   294

    }

   295

   296

    master->slave_count = 0;

   297

}

   298

   299

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

   300

   301

/**

   302

   Destroy all domains.

   303

*/

   304

   305

void ec_master_destroy_domains(ec_master_t *master)

   306

{

   307

    ec_domain_t *domain, *next_d;

   308

   309

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

   310

        list_del(&domain->list);

   311

        ec_domain_destroy(domain);

   312

    }

   313

}

   314

   315

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

   316

   317

/**

   318

   Flushes the SDO request queue.

   319

*/

   320

   321

void ec_master_flush_sdo_requests(ec_master_t *master)

   322

{

   323

    del_timer_sync(&master->sdo_timer);

   324

    complete(&master->sdo_complete);

   325

    master->sdo_request = NULL;

   326

    master->sdo_seq_user = 0;

   327

    master->sdo_seq_master = 0;

   328

}

   329

   330

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

   331

   332

/**

   333

   Internal locking callback.

   334

*/

   335

   336

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

   337

{

   338

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

   339

    return 0;

   340

}

   341

   342

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

   343

   344

/**

   345

   Internal unlocking callback.

   346

*/

   347

   348

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

   349

{

   350

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

   351

}

   352

   353

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

   354

   355

/**

   356

*/

   357

   358

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

   359

{

   360

    master->request_cb = ec_master_request_cb;

   361

    master->release_cb = ec_master_release_cb;

   362

    master->cb_data = master;

   363

   364

    master->mode = EC_MASTER_MODE_IDLE;

   365

    queue_delayed_work(master->workqueue, &master->idle_work, 1);

   366

    return 0;

   367

}

   368

   369

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

   370

   371

/**

   372

*/

   373

   374

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

   375

{

   376

    ec_master_eoe_stop(master);

   377

   378

    master->mode = EC_MASTER_MODE_ORPHANED;

   379

    while (!cancel_delayed_work(&master->idle_work)) {

   380

        flush_workqueue(master->workqueue);

   381

    }

   382

   383

    ec_master_flush_sdo_requests(master);

   384

}

   385

   386

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

   387

   388

/**

   389

*/

   390

   391

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

   392

{

   393

    ec_slave_t *slave;

   394

    ec_datagram_t *datagram = &master->fsm.datagram;

   395

   396

    ec_master_eoe_stop(master); // stop EoE timer

   398

   399

    master->mode = EC_MASTER_MODE_OPERATION;

   400

    while (!cancel_delayed_work(&master->idle_work)) {

   401

        flush_workqueue(master->workqueue);

   402

    }

   403

   404

    // wait for FSM datagram

   405

    if (datagram->state == EC_DATAGRAM_SENT) {

   406

        while (get_cycles() - datagram->cycles_sent

   407

               < (cycles_t) EC_IO_TIMEOUT /* us */ * (cpu_khz / 1000)) {}

   408

        ecrt_master_receive(master);

   409

    }

   410

   411

    // finish running master FSM

   412

    if (ec_fsm_running(&master->fsm)) {

   413

        while (ec_fsm_exec(&master->fsm)) {

   414

            ec_master_sync_io(master);

   415

        }

   416

    }

   417

   418

    if (master->debug_level) {

   419

        if (ec_master_measure_bus_time(master)) {

   420

            EC_ERR("Bus time measuring failed!\n");

   421

            goto out_idle;

   422

        }

   423

    }

   424

   425

    // set initial slave states

   426

    list_for_each_entry(slave, &master->slaves, list) {

   427

        if (ec_slave_is_coupler(slave)) {

   428

            ec_slave_request_state(slave, EC_SLAVE_STATE_OP);

   429

        }

   430

        else {

   431

            ec_slave_request_state(slave, EC_SLAVE_STATE_PREOP);

   432

        }

   433

    }

   434

   436

   437

    return 0;

   438

   439

 out_idle:

   440

    master->mode = EC_MASTER_MODE_IDLE;

   441

    queue_delayed_work(master->workqueue, &master->idle_work, 1);

   442

    return -1;

   443

}

   444

   445

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

   446

   447

/**

   448

*/

   449

   450

void ec_master_leave_operation_mode(ec_master_t *master

   451

                                    /**< EtherCAT master */)

   452

{

   453

    ec_slave_t *slave;

   454

    ec_fsm_t *fsm = &master->fsm;

   455

    ec_datagram_t *datagram = &master->fsm.datagram;

   456

   457

    ec_master_eoe_stop(master); // stop EoE timer

   459

   460

    // wait for FSM datagram

   461

    if (datagram->state == EC_DATAGRAM_SENT) {

   462

        // active waiting

   463

        while (get_cycles() - datagram->cycles_sent

   464

               < (cycles_t) EC_IO_TIMEOUT /* us */ * (cpu_khz / 1000));

   465

        ecrt_master_receive(master);

   466

    }

   467

   468

    // finish running master FSM

   469

    if (ec_fsm_running(fsm)) {

   470

        while (ec_fsm_exec(fsm)) {

   471

            ec_master_sync_io(master);

   472

        }

   473

    }

   474

   475

    // set states for all slaves

   476

    list_for_each_entry(slave, &master->slaves, list) {

   477

        ec_slave_reset(slave);

   478

        ec_slave_request_state(slave, EC_SLAVE_STATE_PREOP);

   479

   480

        fsm->slave = slave;

   481

        fsm->slave_state = ec_fsm_slaveconf_state_start;

   482

   483

        do {

   484

            fsm->slave_state(fsm);

   485

            ec_master_sync_io(master);

   486

        }

   487

        while (fsm->slave_state != ec_fsm_slave_state_end

   488

               && fsm->slave_state != ec_fsm_slave_state_error);