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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

    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_sync_io(ec_master_t *);

    59

void ec_master_idle_run(void *);

    60

void ec_master_eoe_run(unsigned long);

    61

void ec_master_check_sdo(unsigned long);

    62

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

    63

ssize_t ec_store_master_attribute(struct kobject *, struct attribute *,

    64

                                  const char *, size_t);

    65

    66

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

    67

    68

/** \cond */

    69

    70

EC_SYSFS_READ_ATTR(info);

    71

EC_SYSFS_READ_WRITE_ATTR(eeprom_write_enable);

    72

EC_SYSFS_READ_WRITE_ATTR(debug_level);

    73

    74

static struct attribute *ec_def_attrs[] = {

    75

    &attr_info,

    76

    &attr_eeprom_write_enable,

    77

    &attr_debug_level,

    78

    NULL,

    79

};

    80

    81

static struct sysfs_ops ec_sysfs_ops = {

    82

    .show = &ec_show_master_attribute,

    83

    .store = ec_store_master_attribute

    84

};

    85

    86

static struct kobj_type ktype_ec_master = {

    87

    .release = ec_master_clear,

    88

    .sysfs_ops = &ec_sysfs_ops,

    89

    .default_attrs = ec_def_attrs

    90

};

    91

    92

/** \endcond */

    93

    94

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

    95

    96

/**

    97

   Master constructor.

    98

   \return 0 in case of success, else < 0

    99

*/

   100

   101

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

   102

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

   103

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

   104

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

   105

                   )

   106

{

   107

    ec_eoe_t *eoe, *next_eoe;

   108

    unsigned int i;

   109

   110

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

   111

   112

    master->index = index;

   113

    master->device = NULL;

   114

    init_MUTEX(&master->device_sem);

   115

    atomic_set(&master->available, 1);

   116

    INIT_LIST_HEAD(&master->slaves);

   117

    INIT_LIST_HEAD(&master->datagram_queue);

   118

    INIT_LIST_HEAD(&master->domains);

   119

    INIT_LIST_HEAD(&master->eoe_handlers);

   120

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

   121

    init_timer(&master->eoe_timer);

   122

    master->eoe_timer.function = ec_master_eoe_run;

   123

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

   124

    master->internal_lock = SPIN_LOCK_UNLOCKED;

   125

    master->eoe_running = 0;

   126

    master->eoe_checked = 0;

   127

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

   128

        master->idle_cycle_times[i] = 0;

   129

        master->eoe_cycle_times[i] = 0;

   130

    }

   131

    master->idle_cycle_time_pos = 0;

   132

    master->eoe_cycle_time_pos = 0;

   133

    master->debug_level = 0;

   134

    init_MUTEX(&master->sdo_sem);

   135

    init_timer(&master->sdo_timer);

   136

    master->sdo_timer.function = ec_master_check_sdo;

   137

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

   138

    init_completion(&master->sdo_complete);

   139

   140

    // create workqueue

   141

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

   142

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

   143

        goto out_return;

   144

    }

   145

   146

    // init XML character device

   147

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

   148

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

   149

        goto out_clear_wq;

   150

    }

   151

   152

    // create EoE handlers

   153

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

   154

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

   155

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

   156

            goto out_clear_eoe;

   157

        }

   158

        if (ec_eoe_init(eoe)) {

   159

            kfree(eoe);

   160

            goto out_clear_eoe;

   161

        }

   162

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

   163

    }

   164

   165

    // create state machine object

   166

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

   167

   168

    // init kobject and add it to the hierarchy

   169

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

   170

    kobject_init(&master->kobj);

   171

    master->kobj.ktype = &ktype_ec_master;

   172

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

   173

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

   174

        kobject_put(&master->kobj);

   175

        return -1;

   176

    }

   177

   178

    ec_master_reset(master);

   179

    return 0;

   180

   181

 out_clear_eoe:

   182

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

   183

        list_del(&eoe->list);

   184

        ec_eoe_clear(eoe);

   185

        kfree(eoe);

   186

    }

   187

    ec_xmldev_clear(&master->xmldev);

   188

 out_clear_wq:

   189

    destroy_workqueue(master->workqueue);

   190

 out_return:

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    return -1;

   192

}

   193

   194

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

   195

   196

/**

   197

   Master destructor.

   198

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

   199

   and frees the device.

   200

*/

   201

   202

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

   203

{

   204

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

   205

    ec_eoe_t *eoe, *next_eoe;

   206

   207

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

   208

   209

    ec_master_reset(master);

   210

    ec_fsm_clear(&master->fsm);

   211

    destroy_workqueue(master->workqueue);

   212

    ec_xmldev_clear(&master->xmldev);

   213

   214

    // clear EoE objects

   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

   221

    if (master->device) {

   222

        ec_device_clear(master->device);

   223

        kfree(master->device);

   224

    }

   225

   226

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

   227

   228

    kfree(master);

   229

}

   230

   231

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

   232

   233

/**

   234

   Resets the master.

   235

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

   236

   called, to free the slave list, domains etc.

   237

*/

   238

   239

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

   240

{

   241

    ec_datagram_t *datagram, *next_c;

   242

    ec_domain_t *domain, *next_d;

   243

   244

    ec_master_eoe_stop(master);

   245

    ec_master_idle_stop(master);

   246

    ec_master_flush_sdo_requests(master);

   247

    ec_master_clear_slaves(master);

   248

   249

    // empty datagram queue

   250

    list_for_each_entry_safe(datagram, next_c,

   251

                             &master->datagram_queue, queue) {

   252

        datagram->state = EC_DATAGRAM_ERROR;

   253

        list_del_init(&datagram->queue);

   254

    }

   255

   256

    // clear domains

   257

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

   258

        list_del(&domain->list);

   259

        kobject_del(&domain->kobj);

   260

        kobject_put(&domain->kobj);

   261

    }

   262

   263

    master->datagram_index = 0;

   264

   265

    master->stats.timeouts = 0;

   266

    master->stats.corrupted = 0;

   267

    master->stats.skipped = 0;

   268

    master->stats.unmatched = 0;

   269

    master->stats.output_jiffies = 0;

   270

   271

    master->mode = EC_MASTER_MODE_ORPHANED;

   272

   273

    master->request_cb = NULL;

   274

    master->release_cb = NULL;

   275

    master->cb_data = NULL;

   276

   277

    master->eeprom_write_enable = 0;

   278

   279

    ec_fsm_reset(&master->fsm);

   280

}

   281

   282

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

   283

   284

/**

   285

   Clears all slaves.

   286

*/

   287

   288

void ec_master_clear_slaves(ec_master_t *master)

   289

{

   290

    ec_slave_t *slave, *next_slave;

   291

   292

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

   293

        list_del(&slave->list);

   294

        kobject_del(&slave->kobj);

   295

        kobject_put(&slave->kobj);

   296

    }

   297

    master->slave_count = 0;

   298

}

   299

   300

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

   301

   302

/**

   303

   Flushes the SDO request queue.

   304

*/

   305

   306

void ec_master_flush_sdo_requests(ec_master_t *master)

   307

{

   308

    del_timer_sync(&master->sdo_timer);

   309

    complete(&master->sdo_complete);

   310

    master->sdo_request = NULL;

   311

    master->sdo_seq_user = 0;

   312

    master->sdo_seq_master = 0;

   313

}

   314

   315

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

   316

   317

/**

   318

   Places a datagram in the datagram queue.

   319

*/

   320

   321

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

   322

                              ec_datagram_t *datagram /**< datagram */

   323

                              )

   324

{

   325

    ec_datagram_t *queued_datagram;

   326

   327

    // check, if the datagram is already queued

   328

    list_for_each_entry(queued_datagram, &master->datagram_queue, queue) {

   329

        if (queued_datagram == datagram) {

   330

            master->stats.skipped++;

   331

            ec_master_output_stats(master);

   332

            datagram->state = EC_DATAGRAM_QUEUED;

   333

            return;

   334

        }

   335

    }

   336

   337

    list_add_tail(&datagram->queue, &master->datagram_queue);

   338

    datagram->state = EC_DATAGRAM_QUEUED;

   339

    datagram->cycles_queued = get_cycles();

   340

}

   341

   342

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

   343

   344

/**

   345

   Sends the datagrams in the queue.

   346

   \return 0 in case of success, else < 0

   347

*/

   348

   349

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

   350

{

   351

    ec_datagram_t *datagram, *next;

   352

    size_t datagram_size;

   353

    uint8_t *frame_data, *cur_data;

   354

    void *follows_word;

   355

    cycles_t cycles_start, cycles_sent, cycles_end;

   356

    unsigned long jiffies_sent;

   357

    unsigned int frame_count, more_datagrams_waiting;

   358

    struct list_head sent_datagrams;

   359

   360

    cycles_start = get_cycles();

   361

    frame_count = 0;

   362

    INIT_LIST_HEAD(&sent_datagrams);

   363

   364

    if (unlikely(master->debug_level > 1))

   365

        EC_DBG("ec_master_send_datagrams\n");

   366

   367

    do {

   368

        // fetch pointer to transmit socket buffer

   369

        frame_data = ec_device_tx_data(master->device);

   370

        cur_data = frame_data + EC_FRAME_HEADER_SIZE;

   371

        follows_word = NULL;

   372

        more_datagrams_waiting = 0;

   373

   374

        // fill current frame with datagrams

   375

        list_for_each_entry(datagram, &master->datagram_queue, queue) {

   376

            if (datagram->state != EC_DATAGRAM_QUEUED) continue;

   377

   378

            // does the current datagram fit in the frame?

   379

            datagram_size = EC_DATAGRAM_HEADER_SIZE + datagram->data_size

   380

                + EC_DATAGRAM_FOOTER_SIZE;

   381

            if (cur_data - frame_data + datagram_size > ETH_DATA_LEN) {

   382

                more_datagrams_waiting = 1;

   383

                break;

   384

            }

   385

   386

            list_add_tail(&datagram->sent, &sent_datagrams);

   387

            datagram->index = master->datagram_index++;

   388

   389

            if (unlikely(master->debug_level > 1))

   390

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

   391

   392

            // set "datagram following" flag in previous frame

   393

            if (follows_word)

   394

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

   395

   396

            // EtherCAT datagram header

   397

            EC_WRITE_U8 (cur_data,     datagram->type);

   398

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

   399

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

   400

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

   401

            EC_WRITE_U16(cur_data + 8, 0x0000);

   402

            follows_word = cur_data + 6;

   403

            cur_data += EC_DATAGRAM_HEADER_SIZE;

   404

   405

            // EtherCAT datagram data

   406

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

   407

            cur_data += datagram->data_size;

   408

   409

            // EtherCAT datagram footer

   410

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

   411

            cur_data += EC_DATAGRAM_FOOTER_SIZE;

   412

        }

   413

   414

        if (list_empty(&sent_datagrams)) {

   415

            if (unlikely(master->debug_level > 1))

   416

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

   417

            break;

   418

        }

   419

   420

        // EtherCAT frame header

   421

        EC_WRITE_U16(frame_data, ((cur_data - frame_data

   422

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

   423

   424

        // pad frame

   425

        while (cur_data - frame_data < ETH_ZLEN - ETH_HLEN)

   426

            EC_WRITE_U8(cur_data++, 0x00);

   427

   428

        if (unlikely(master->debug_level > 1))

   429

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

   430

   431

        // send frame

   432

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

   433

        cycles_sent = get_cycles();

   434

        jiffies_sent = jiffies;

   435

   436

        // set datagram states and sending timestamps

   437

        list_for_each_entry_safe(datagram, next, &sent_datagrams, sent) {

   438

            datagram->state = EC_DATAGRAM_SENT;

   439

            datagram->cycles_sent = cycles_sent;

   440

            datagram->jiffies_sent = jiffies_sent;

   441

            list_del_init(&datagram->sent); // empty list of sent datagrams

   442

        }

   443

   444

        frame_count++;

   445

    }

   446

    while (more_datagrams_waiting);

   447

   448

    if (unlikely(master->debug_level > 1)) {

   449

        cycles_end = get_cycles();

   450

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

   451

               frame_count,

   452

               (unsigned int) (cycles_end - cycles_start) * 1000 / cpu_khz);

   453

    }

   454

}

   455

   456

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

   457

   458

/**

   459

   Processes a received frame.

   460

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

   461

   \return 0 in case of success, else < 0

   462

*/

   463

   464

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

   465

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

   466

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

   467

                                 )

   468

{

   469

    size_t frame_size, data_size;

   470

    uint8_t datagram_type, datagram_index;

   471

    unsigned int cmd_follows, matched;

   472

    const uint8_t *cur_data;

   473

    ec_datagram_t *datagram;

   474

   475

    if (unlikely(size < EC_FRAME_HEADER_SIZE)) {

   476

        master->stats.corrupted++;

   477

        ec_master_output_stats(master);

   478

        return;

   479

    }

   480

   481

    cur_data = frame_data;

   482

   483

    // check length of entire frame

   484

    frame_size = EC_READ_U16(cur_data) & 0x07FF;