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

     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(ec_master_t *);

    64

static int ec_master_operation_thread(ec_master_t *);

    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

#ifdef EC_EOE

   125

    init_timer(&master->eoe_timer);

   126

    master->eoe_timer.function = ec_master_eoe_run;

   127

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

   128

    master->eoe_running = 0;

   129

    INIT_LIST_HEAD(&master->eoe_handlers);

   130

#endif

   131

   132

    master->internal_lock = SPIN_LOCK_UNLOCKED;

   133

    master->request_cb = NULL;

   134

    master->release_cb = NULL;

   135

    master->cb_data = NULL;

   136

   137

    INIT_LIST_HEAD(&master->sii_requests);

   138

    init_waitqueue_head(&master->sii_queue);

   139

   140

    INIT_LIST_HEAD(&master->slave_sdo_requests);

   141

    init_waitqueue_head(&master->sdo_queue);

   142

   143

    INIT_LIST_HEAD(&master->phy_requests);

   144

    init_waitqueue_head(&master->phy_queue);

   145

   146

    // init devices

   147

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

   148

        goto out_return;

   149

   150

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

   151

        goto out_clear_main;

   152

   153

    // init state machine datagram

   154

    ec_datagram_init(&master->fsm_datagram);

   155

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

   156

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

   157

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

   158

        goto out_clear_backup;

   159

    }

   160

   161

    // create state machine object

   162

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

   163

   164

    // init character device

   165

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

   166

        goto out_clear_fsm;

   167

   168

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

   169

    master->class_device = class_device_create(class,

   170

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

   171

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

   172

#else

   173

    master->class_device = class_device_create(class, NULL,

   174

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

   175

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

   176

#endif

   177

    if (IS_ERR(master->class_device)) {

   178

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

   179

        goto out_clear_cdev;

   180

    }

   181

   182

    return 0;

   183

   184

out_clear_cdev:

   185

    ec_cdev_clear(&master->cdev);

   186

out_clear_fsm:

   187

    ec_fsm_master_clear(&master->fsm);

   188

    ec_datagram_clear(&master->fsm_datagram);

   189

out_clear_backup:

   190

    ec_device_clear(&master->backup_device);

   191

out_clear_main:

   192

    ec_device_clear(&master->main_device);

   193

out_return:

   194

    return -1;

   195

}

   196

   197

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

   198

   199

/** Destructor.

   200

*/

   201

void ec_master_clear(

   202

        ec_master_t *master /**< EtherCAT master */

   203

        )

   204

{

   205

    class_device_unregister(master->class_device);

   206

    ec_cdev_clear(&master->cdev);

   207

#ifdef EC_EOE

   208

    ec_master_clear_eoe_handlers(master);

   209

#endif

   210

    ec_master_clear_domains(master);

   211

    ec_master_clear_slave_configs(master);

   212

    ec_master_clear_slaves(master);

   213

    ec_fsm_master_clear(&master->fsm);

   214

    ec_datagram_clear(&master->fsm_datagram);

   215

    ec_device_clear(&master->backup_device);

   216

    ec_device_clear(&master->main_device);

   217

}

   218

   219

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

   220

   221

#ifdef EC_EOE

   222

/** Clear and free all EoE handlers.

   223

 */

   224

void ec_master_clear_eoe_handlers(

   225

        ec_master_t *master /**< EtherCAT master */

   226

        )

   227

{

   228

    ec_eoe_t *eoe, *next;

   229

   230

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

   231

        list_del(&eoe->list);

   232

        ec_eoe_clear(eoe);

   233

        kfree(eoe);

   234

    }

   235

}

   236

#endif

   237

   238

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

   239

   240

/** Clear all slave configurations.

   241

 */

   242

void ec_master_clear_slave_configs(ec_master_t *master)

   243

{

   244

    ec_slave_config_t *sc, *next;

   245

   246

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

   247

        list_del(&sc->list);

   248

        ec_slave_config_clear(sc);

   249

        kfree(sc);

   250

    }

   251

}

   252

   253

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

   254

   255

/** Clear all slaves.

   256

 */

   257

void ec_master_clear_slaves(ec_master_t *master)

   258

{

   259

    ec_slave_t *slave;

   260

   261

    for (slave = master->slaves;

   262

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

   263

            slave++) {

   264

        ec_slave_clear(slave);

   265

    }

   266

   267

    if (master->slaves) {

   268

        kfree(master->slaves);

   269

        master->slaves = NULL;

   270

    }

   271

   272

    master->slave_count = 0;

   273

}

   274

   275

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

   276

   277

/** Clear all domains.

   278

 */

   279

void ec_master_clear_domains(ec_master_t *master)

   280

{

   281

    ec_domain_t *domain, *next;

   282

   283

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

   284

        list_del(&domain->list);

   285

        ec_domain_clear(domain);

   286

        kfree(domain);

   287

    }

   288

}

   289

   290

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

   291

   292

/** Internal locking callback.

   293

 */

   294

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

   295

{

   296

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

   297

    return 0;

   298

}

   299

   300

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

   301

   302

/** Internal unlocking callback.

   303

 */

   304

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

   305

{

   306

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

   307

}

   308

   309

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

   310

   311

/** Starts the master thread.

   312

 */

   313

int ec_master_thread_start(

   314

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

   315

        int (*thread_func)(ec_master_t *) /**< thread function to start */

   316

        )

   317

{

   318

    init_completion(&master->thread_can_terminate);

   319

    init_completion(&master->thread_exit);

   320

   321

    EC_INFO("Starting master thread.\n");

   322

    if (!(master->thread_id = kernel_thread((int (*)(void *)) thread_func,

   323

                    master, CLONE_KERNEL)))

   324

        return -1;

   325

   326

    return 0;

   327

}

   328

   329

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

   330

   331

/** Stops the master thread.

   332

 */

   333

void ec_master_thread_stop(

   334

        ec_master_t *master /**< EtherCAT master */

   335

        )

   336

{

   337

    unsigned long sleep_jiffies;

   338

   339

    if (!master->thread_id) {

   340

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

   341

        return;

   342

    }

   343

   344

    if (master->debug_level)

   345

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

   346

   347

    // wait until thread is ready to receive the SIGTERM

   348

    wait_for_completion(&master->thread_can_terminate);

   349

   350

    kill_proc(master->thread_id, SIGTERM, 1);

   351

    wait_for_completion(&master->thread_exit);

   352

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

   353

   354

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

   355

        return;

   356

   357

    // wait for FSM datagram

   358

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

   359

    schedule_timeout(sleep_jiffies);

   360

}

   361

   362

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

   363

   364

/** Transition function from ORPHANED to IDLE phase.

   365

 */

   366

int ec_master_enter_idle_phase(

   367

        ec_master_t *master /**< EtherCAT master */

   368

        )

   369

{

   370

    if (master->debug_level)

   371

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

   372

   373

    master->request_cb = ec_master_request_cb;

   374

    master->release_cb = ec_master_release_cb;

   375

    master->cb_data = master;

   376

   377

    master->phase = EC_IDLE;

   378

    if (ec_master_thread_start(master, ec_master_idle_thread)) {

   379

        master->phase = EC_ORPHANED;

   380

        return -1;

   381

    }

   382

   383

    return 0;

   384

}

   385

   386

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

   387

   388

/** Transition function from IDLE to ORPHANED phase.

   389

 */

   390

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

   391

{

   392

    if (master->debug_level)

   393

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

   394

   395

    master->phase = EC_ORPHANED;

   396

   397

#ifdef EC_EOE

   398

    ec_master_eoe_stop(master);

   399

#endif

   400

    ec_master_thread_stop(master);

   401

   402

    down(&master->master_sem);

   403

    ec_master_clear_slaves(master);

   404

    up(&master->master_sem);

   405

}

   406

   407

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

   408

   409

/** Transition function from IDLE to OPERATION phase.

   410

 */

   411

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

   412

{

   413

    ec_slave_t *slave;

   414

#ifdef EC_EOE

   415

    ec_eoe_t *eoe;

   416

#endif

   417

   418

    if (master->debug_level)

   419

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

   420

   421

    down(&master->config_sem);

   422

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

   423

    if (master->config_busy) {

   424

        up(&master->config_sem);

   425

   426

        // wait for slave configuration to complete

   427

        if (wait_event_interruptible(master->config_queue,

   428

                    !master->config_busy)) {

   429

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

   430

            goto out_allow;

   431

        }

   432

   433

        if (master->debug_level)

   434

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

   435

    } else {

   436

        up(&master->config_sem);

   437

    }

   438

   439

    down(&master->scan_sem);

   440

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

   441

    if (!master->scan_busy) {

   442

        up(&master->scan_sem);

   443

    } else {

   444

        up(&master->scan_sem);

   445

   446

        // wait for slave scan to complete

   447

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

   448

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

   449

            goto out_allow;

   450

        }

   451

   452

        if (master->debug_level)

   453

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

   454

    }

   455

   456

    // set states for all slaves

   457

    for (slave = master->slaves;

   458

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

   459

            slave++) {

   460

        ec_slave_request_state(slave, EC_SLAVE_STATE_PREOP);

   461

    }

   462

#ifdef EC_EOE

   463

    // ... but set EoE slaves to OP

   464

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

   465

        if (ec_eoe_is_open(eoe))

   466

            ec_slave_request_state(eoe->slave, EC_SLAVE_STATE_OP);

   467

    }

   468

#endif

   469

   470

    master->phase = EC_OPERATION;

   471

    master->ext_request_cb = NULL;

   472

    master->ext_release_cb = NULL;

   473

    master->ext_cb_data = NULL;

   474

    return 0;

   475

   476

out_allow:

   477

    master->allow_scan = 1;

   478

    master->allow_config = 1;

   479

    return -1;

   480

}

   481

   482

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

   483