1

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

     2

 *

     3

 *  $Id$

     4

 *

     5

 *  Copyright (C) 2006-2008  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 and/or

    10

 *  modify it under the terms of the GNU General Public License version 2, as

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 *  published by the Free Software Foundation.

    12

 *

    13

 *  The IgH EtherCAT Master is distributed in the hope that it will be useful,

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 *  but WITHOUT ANY WARRANTY; without even the implied warranty of

    15

 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General

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 *  Public License for more details.

    17

 *

    18

 *  You should have received a copy of the GNU General Public License along

    19

 *  with the IgH EtherCAT Master; if not, write to the Free Software

    20

 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA

    21

 *

    22

 *  ---

    23

 *

    24

 *  The license mentioned above concerns the source code only. Using the

    25

 *  EtherCAT technology and brand is only permitted in compliance with the

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 *  industrial property and similar rights of Beckhoff Automation GmbH.

    27

 *

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 *  vim: expandtab

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 *

    30

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

    31

    32

/**

    33

   \file

    34

   EtherCAT master methods.

    35

*/

    36

    37

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

    38

    39

#include <linux/module.h>

    40

#include <linux/kernel.h>

    41

#include <linux/string.h>

    42

#include <linux/slab.h>

    43

#include <linux/delay.h>

    44

#include <linux/device.h>

    45

#include <linux/version.h>

    46

#include <linux/hrtimer.h>

    47

#include "globals.h"

    48

#include "slave.h"

    49

#include "slave_config.h"

    50

#include "device.h"

    51

#include "datagram.h"

    52

#ifdef EC_EOE

    53

#include "ethernet.h"

    54

#endif

    55

#include "master.h"

    56

    57

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

    58

    59

/** Set to 1 to enable external datagram injection debugging.

    60

 */

    61

#define DEBUG_INJECT 0

    62

    63

#ifdef EC_HAVE_CYCLES

    64

    65

/** Frame timeout in cycles.

    66

 */

    67

static cycles_t timeout_cycles;

    68

    69

/** Timeout for external datagram injection [cycles].

    70

 */

    71

static cycles_t ext_injection_timeout_cycles;

    72

    73

#else

    74

    75

/** Frame timeout in jiffies.

    76

 */

    77

static unsigned long timeout_jiffies;

    78

    79

/** Timeout for external datagram injection [jiffies].

    80

 */

    81

static unsigned long ext_injection_timeout_jiffies;

    82

    83

#endif

    84

    91

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

    92

    93

void ec_master_clear_slave_configs(ec_master_t *);

    94

void ec_master_clear_domains(ec_master_t *);

    95

static int ec_master_idle_thread(void *);

    96

static int ec_master_operation_thread(void *);

    97

#ifdef EC_EOE

    98

static int ec_master_eoe_thread(void *);

    99

#endif

   100

void ec_master_find_dc_ref_clock(ec_master_t *);

   103

   104

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

   105

   106

/** Static variables initializer.

   107

*/

   108

void ec_master_init_static(void)

   109

{

   110

#ifdef EC_HAVE_CYCLES

   111

    timeout_cycles = (cycles_t) EC_IO_TIMEOUT /* us */ * (cpu_khz / 1000);

   112

    ext_injection_timeout_cycles = (cycles_t) EC_SDO_INJECTION_TIMEOUT /* us */ * (cpu_khz / 1000);

   113

#else

   114

    // one jiffy may always elapse between time measurement

   115

    timeout_jiffies = max(EC_IO_TIMEOUT * HZ / 1000000, 1);

   116

    ext_injection_timeout_jiffies = max(EC_SDO_INJECTION_TIMEOUT * HZ / 1000000, 1);

   117

#endif

   118

}

   119

   120

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

   121

   122

/**

   123

   Master constructor.

   124

   \return 0 in case of success, else < 0

   125

*/

   126

   127

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

   128

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

   129

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

   130

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

   131

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

   132

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

   133

        unsigned int debug_level /**< Debug level (module parameter). */

   134

        )

   135

{

   136

    int ret;

   137

   138

    master->index = index;

   139

    master->reserved = 0;

   140

   141

    sema_init(&master->master_sem, 1);

   142

   143

    master->main_mac = main_mac;

   144

    master->backup_mac = backup_mac;

   146

   147

    sema_init(&master->device_sem, 1);

   148

   149

    master->phase = EC_ORPHANED;

   150

    master->active = 0;

   151

    master->config_changed = 0;

   152

    master->injection_seq_fsm = 0;

   153

    master->injection_seq_rt = 0;

   154

   155

    master->slaves = NULL;

   156

    master->slave_count = 0;

   157

   158

    INIT_LIST_HEAD(&master->configs);

   159

   160

    master->app_time = 0ULL;

   161

    master->app_start_time = 0ULL;

   162

    master->has_app_time = 0;

   163

   164

    master->scan_busy = 0;

   165

    master->allow_scan = 1;

   166

    sema_init(&master->scan_sem, 1);

   167

    init_waitqueue_head(&master->scan_queue);

   168

   169

    master->config_busy = 0;

   170

    sema_init(&master->config_sem, 1);

   171

    init_waitqueue_head(&master->config_queue);

   172

   173

    INIT_LIST_HEAD(&master->datagram_queue);

   174

    master->datagram_index = 0;

   175

   176

    INIT_LIST_HEAD(&master->ext_datagram_queue);

   177

    sema_init(&master->ext_queue_sem, 1);

   178

   179

    INIT_LIST_HEAD(&master->external_datagram_queue);

   180

   181

    // send interval in IDLE phase

   182

    ec_master_set_send_interval(master, 1000000 / HZ);

   183

   184

    INIT_LIST_HEAD(&master->domains);

   185

   186

    master->debug_level = debug_level;

   187

    master->stats.timeouts = 0;

   188

    master->stats.corrupted = 0;

   189

    master->stats.unmatched = 0;

   190

    master->stats.output_jiffies = 0;

   191

   192

    master->thread = NULL;

   193

   194

#ifdef EC_EOE

   195

    master->eoe_thread = NULL;

   196

    INIT_LIST_HEAD(&master->eoe_handlers);

   197

#endif

   198

   199

    sema_init(&master->io_sem, 1);

   200

    master->send_cb = NULL;

   201

    master->receive_cb = NULL;

   202

    master->cb_data = NULL;

   203

    master->app_send_cb = NULL;

   204

    master->app_receive_cb = NULL;

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    master->app_cb_data = NULL;

   206

   207

    INIT_LIST_HEAD(&master->sii_requests);

   208

    init_waitqueue_head(&master->sii_queue);

   209

   210

    INIT_LIST_HEAD(&master->reg_requests);

   211

    init_waitqueue_head(&master->reg_queue);

   212

   213

    // init devices

   214

    ret = ec_device_init(&master->main_device, master);

   215

    if (ret < 0)

   216

        goto out_return;

   217

   218

    ret = ec_device_init(&master->backup_device, master);

   219

    if (ret < 0)

   220

        goto out_clear_main;

   221

   222

    // init state machine datagram

   223

    ec_datagram_init(&master->fsm_datagram);

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

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    ret = ec_datagram_prealloc(&master->fsm_datagram, EC_MAX_DATA_SIZE);

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    if (ret < 0) {

   227

        ec_datagram_clear(&master->fsm_datagram);

   228

        EC_MASTER_ERR(master, "Failed to allocate FSM datagram.\n");

   229

        goto out_clear_backup;

   230

    }

   231

   232

    // create state machine object

   233

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

   234

   235

    // init reference sync datagram

   236

    ec_datagram_init(&master->ref_sync_datagram);

   237

    snprintf(master->ref_sync_datagram.name, EC_DATAGRAM_NAME_SIZE, "refsync");

   238

    ret = ec_datagram_apwr(&master->ref_sync_datagram, 0, 0x0910, 8);

   239

    if (ret < 0) {

   240

        ec_datagram_clear(&master->ref_sync_datagram);

   241

        EC_MASTER_ERR(master, "Failed to allocate reference"

   242

                " synchronisation datagram.\n");

   243

        goto out_clear_fsm;

   244

    }

   245

   246

    // init sync datagram

   247

    ec_datagram_init(&master->sync_datagram);

   248

    snprintf(master->sync_datagram.name, EC_DATAGRAM_NAME_SIZE, "sync");

   249

    ret = ec_datagram_prealloc(&master->sync_datagram, 4);

   250

    if (ret < 0) {

   251

        ec_datagram_clear(&master->sync_datagram);

   252

        EC_MASTER_ERR(master, "Failed to allocate"

   253

                " synchronisation datagram.\n");

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        goto out_clear_ref_sync;

   255

    }

   256

   257

    // init sync monitor datagram

   258

    ec_datagram_init(&master->sync_mon_datagram);

   259

    snprintf(master->sync_mon_datagram.name, EC_DATAGRAM_NAME_SIZE, "syncmon");

   260

    ret = ec_datagram_brd(&master->sync_mon_datagram, 0x092c, 4);

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    if (ret < 0) {

   262

        ec_datagram_clear(&master->sync_mon_datagram);

   263

        EC_MASTER_ERR(master, "Failed to allocate sync"

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                " monitoring datagram.\n");

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        goto out_clear_sync;

   266

    }

   267

   268

    ec_master_find_dc_ref_clock(master);

   269

   270

    // init character device

   271

    ret = ec_cdev_init(&master->cdev, master, device_number);

   272

    if (ret)

   273

        goto out_clear_sync_mon;

   274

   275

#if LINUX_VERSION_CODE >= KERNEL_VERSION(2, 6, 27)

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    master->class_device = device_create(class, NULL,

   277

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

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

   279

#elif LINUX_VERSION_CODE >= KERNEL_VERSION(2, 6, 26)

   280

    master->class_device = device_create(class, NULL,

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

   282

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

   283

#elif LINUX_VERSION_CODE >= KERNEL_VERSION(2, 6, 15)

   284

    master->class_device = class_device_create(class, NULL,

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

   286

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

   287

#else

   288

    master->class_device = class_device_create(class,

   289

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

   290

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

   291

#endif

   292

    if (IS_ERR(master->class_device)) {

   293

        EC_MASTER_ERR(master, "Failed to create class device!\n");

   294

        ret = PTR_ERR(master->class_device);

   295

        goto out_clear_cdev;

   296

    }

   297

   298

    return 0;

   299

   300

out_clear_cdev:

   301

    ec_cdev_clear(&master->cdev);

   302

out_clear_sync_mon:

   303

    ec_datagram_clear(&master->sync_mon_datagram);

   304

out_clear_sync:

   305

    ec_datagram_clear(&master->sync_datagram);

   306

out_clear_ref_sync:

   307

    ec_datagram_clear(&master->ref_sync_datagram);

   308

out_clear_fsm:

   309

    ec_fsm_master_clear(&master->fsm);

   310

    ec_datagram_clear(&master->fsm_datagram);

   311

out_clear_backup:

   312

    ec_device_clear(&master->backup_device);

   313

out_clear_main:

   314

    ec_device_clear(&master->main_device);

   315

out_return:

   316

    return ret;

   317

}

   318

   319

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

   320

   321

/** Destructor.

   322

*/

   323

void ec_master_clear(

   324

        ec_master_t *master /**< EtherCAT master */

   325

        )

   326

{

   327

#if LINUX_VERSION_CODE >= KERNEL_VERSION(2, 6, 26)

   328

    device_unregister(master->class_device);

   329

#else

   330

    class_device_unregister(master->class_device);

   331

#endif

   332

   333

    ec_cdev_clear(&master->cdev);

   334

   335

#ifdef EC_EOE

   336

    ec_master_clear_eoe_handlers(master);

   337

#endif

   338

    ec_master_clear_domains(master);

   339

    ec_master_clear_slave_configs(master);

   340

    ec_master_clear_slaves(master);

   341

   342

    ec_datagram_clear(&master->sync_mon_datagram);

   343

    ec_datagram_clear(&master->sync_datagram);

   344

    ec_datagram_clear(&master->ref_sync_datagram);

   345

    ec_fsm_master_clear(&master->fsm);

   346

    ec_datagram_clear(&master->fsm_datagram);

   347

    ec_device_clear(&master->backup_device);

   348

    ec_device_clear(&master->main_device);

   349

}

   350

   351

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

   352

   353

#ifdef EC_EOE

   354

/** Clear and free all EoE handlers.

   355

 */

   356

void ec_master_clear_eoe_handlers(

   357

        ec_master_t *master /**< EtherCAT master */

   358

        )

   359

{

   360

    ec_eoe_t *eoe, *next;

   361

   362

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

   363

        list_del(&eoe->list);

   364

        ec_eoe_clear(eoe);

   365

        kfree(eoe);

   366

    }

   367

}

   368

#endif

   369

   370

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

   371

   372

/** Clear all slave configurations.

   373

 */

   374

void ec_master_clear_slave_configs(ec_master_t *master)

   375

{

   376

    ec_slave_config_t *sc, *next;

   377

   378

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

   379

        list_del(&sc->list);

   380

        ec_slave_config_clear(sc);

   381

        kfree(sc);

   382

    }

   383

}

   384

   385

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

   386

   387

/** Clear all slaves.

   388

 */

   389

void ec_master_clear_slaves(ec_master_t *master)

   390

{

   391

    ec_slave_t *slave;

   392

   393

    master->dc_ref_clock = NULL;

   394

   395

    // external requests are obsolete, so we wake pending waiters and remove

   396

    // them from the list

   397

   398

    while (!list_empty(&master->sii_requests)) {

   399

        ec_sii_write_request_t *request =

   400

            list_entry(master->sii_requests.next,

   401

                    ec_sii_write_request_t, list);

   402

        list_del_init(&request->list); // dequeue

   403

        EC_MASTER_WARN(master, "Discarding SII request, slave %u about"

   404

                " to be deleted.\n", request->slave->ring_position);

   405

        request->state = EC_INT_REQUEST_FAILURE;

   406

        wake_up(&master->sii_queue);

   407

    }

   408

   409

    while (!list_empty(&master->reg_requests)) {

   410

        ec_reg_request_t *request =

   411

            list_entry(master->reg_requests.next, ec_reg_request_t, list);

   412

        list_del_init(&request->list); // dequeue

   413

        EC_MASTER_WARN(master, "Discarding register request, slave %u"

   414

                " about to be deleted.\n", request->slave->ring_position);

   415

        request->state = EC_INT_REQUEST_FAILURE;

   416

        wake_up(&master->reg_queue);

   417

    }

   418

   419

    for (slave = master->slaves;

   420

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

   421

            slave++) {

   422

        ec_slave_clear(slave);

   423

    }

   424

   425

    if (master->slaves) {

   426

        kfree(master->slaves);

   427

        master->slaves = NULL;

   428

    }

   429

   430

    master->slave_count = 0;

   431

}

   432

   433

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

   434

   435

/** Clear all domains.

   436

 */

   437

void ec_master_clear_domains(ec_master_t *master)

   438

{

   439

    ec_domain_t *domain, *next;

   440

   441

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

   442

        list_del(&domain->list);

   443

        ec_domain_clear(domain);

   444

        kfree(domain);

   445

    }

   446

}

   447

   448

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

   449

   450

/** Clear the configuration applied by the application.

   451

 */

   452

void ec_master_clear_config(

   453

        ec_master_t *master /**< EtherCAT master. */

   454

        )

   455

{

   456

    down(&master->master_sem);

   457

    ec_master_clear_domains(master);

   458

    ec_master_clear_slave_configs(master);

   459

    up(&master->master_sem);

   460

}

   461

   462

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

   463

   464

/** Internal sending callback.

   465

 */

   466

void ec_master_internal_send_cb(

   467

        void *cb_data /**< Callback data. */

   468

        )

   469

{

   470

    ec_master_t *master = (ec_master_t *) cb_data;

   471

    down(&master->io_sem);

   472

    ecrt_master_send_ext(master);

   473

    up(&master->io_sem);

   474

}

   475

   476

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

   477

   478

/** Internal receiving callback.

   479

 */

   480

void ec_master_internal_receive_cb(

   481

        void *cb_data /**< Callback data. */

   482