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

    11

 *  published by the Free Software Foundation.

    12

 *

    13

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

    14

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

    15

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

    16

 *  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

    26

 *  industrial property and similar rights of Beckhoff Automation GmbH.

    27

 *

    28

 *  vim: expandtab

    29

 *

    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

    85

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

    86

    87

void ec_master_clear_slave_configs(ec_master_t *);

    88

void ec_master_clear_domains(ec_master_t *);

    89

static int ec_master_idle_thread(void *);

    90

static int ec_master_operation_thread(void *);

    91

#ifdef EC_EOE

    92

static int ec_master_eoe_thread(void *);

    93

#endif

    94

void ec_master_find_dc_ref_clock(ec_master_t *);

    95

    96

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

    97

    98

/** Static variables initializer.

    99

*/

   100

void ec_master_init_static(void)

   101

{

   102

#ifdef EC_HAVE_CYCLES

   103

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

   104

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

   105

#else

   106

    // one jiffy may always elapse between time measurement

   107

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

   108

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

   109

#endif

   110

}

   111

   112

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

   113

   114

/**

   115

   Master constructor.

   116

   \return 0 in case of success, else < 0

   117

*/

   118

   119

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

   120

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

   121

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

   122

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

   123

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

   124

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

   125

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

   126

        )

   127

{

   128

    int ret;

   129

   130

    master->index = index;

   131

    master->reserved = 0;

   132

   133

    sema_init(&master->master_sem, 1);

   134

   135

    master->main_mac = main_mac;

   136

    master->backup_mac = backup_mac;

   137

   138

    sema_init(&master->device_sem, 1);

   139

   140

    master->phase = EC_ORPHANED;

   141

    master->active = 0;

   142

    master->config_changed = 0;

   143

    master->injection_seq_fsm = 0;

   144

    master->injection_seq_rt = 0;

   145

   146

    master->slaves = NULL;

   147

    master->slave_count = 0;

   148

   149

    INIT_LIST_HEAD(&master->configs);

   150

   151

    master->app_time = 0ULL;

   152

#ifdef EC_HAVE_CYCLES

   153

    master->dc_cycles_app_start_time = 0;

   154

#endif

   155

    master->dc_jiffies_app_start_time = 0;

   156

    master->app_start_time = 0ULL;

   157

    master->has_app_time = 0;

   158

   159

    master->scan_busy = 0;

   160

    master->allow_scan = 1;

   161

    sema_init(&master->scan_sem, 1);

   162

    init_waitqueue_head(&master->scan_queue);

   163

   164

    master->config_busy = 0;

   165

    master->allow_config = 1;

   166

    sema_init(&master->config_sem, 1);

   167

    init_waitqueue_head(&master->config_queue);

   168

   169

    INIT_LIST_HEAD(&master->datagram_queue);

   170

    master->datagram_index = 0;

   171

   172

    INIT_LIST_HEAD(&master->ext_datagram_queue);

   173

    sema_init(&master->ext_queue_sem, 1);

   174

   176

   177

    // send interval in IDLE phase

   178

    ec_master_set_send_interval(master, 1000000 / HZ);

   179

   180

    INIT_LIST_HEAD(&master->domains);

   181

   182

    master->debug_level = debug_level;

   183

    master->stats.timeouts = 0;

   184

    master->stats.corrupted = 0;

   185

    master->stats.unmatched = 0;

   186

    master->stats.output_jiffies = 0;

   187

   188

    master->thread = NULL;

   189

   190

#ifdef EC_EOE

   191

    master->eoe_thread = NULL;

   192

    INIT_LIST_HEAD(&master->eoe_handlers);

   193

#endif

   194

   195

    sema_init(&master->io_sem, 1);

   196

    master->send_cb = NULL;

   197

    master->receive_cb = NULL;

   198

    master->cb_data = NULL;

   199

    master->app_send_cb = NULL;

   200

    master->app_receive_cb = NULL;

   201

    master->app_cb_data = NULL;

   202

   203

    INIT_LIST_HEAD(&master->sii_requests);

   204

    init_waitqueue_head(&master->sii_queue);

   205

   206

    INIT_LIST_HEAD(&master->reg_requests);

   207

    init_waitqueue_head(&master->reg_queue);

   208

   209

    // init devices

   210

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

   211

    if (ret < 0)

   212

        goto out_return;

   213

   214

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

   215

    if (ret < 0)

   216

        goto out_clear_main;

   217

   218

    // init state machine datagram

   219

    ec_datagram_init(&master->fsm_datagram);

   220

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

   221

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

   222

    if (ret < 0) {

   223

        ec_datagram_clear(&master->fsm_datagram);

   224

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

   225

        goto out_clear_backup;

   226

    }

   227

   228

    // create state machine object

   229

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

   230

   231

    // init reference sync datagram

   232

    ec_datagram_init(&master->ref_sync_datagram);

   233

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

   234

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

   235

    if (ret < 0) {

   236

        ec_datagram_clear(&master->ref_sync_datagram);

   237

        EC_MASTER_ERR(master, "Failed to allocate reference"

   238

                " synchronisation datagram.\n");

   239

        goto out_clear_fsm;

   240

    }

   241

   242

    // init sync datagram

   243

    ec_datagram_init(&master->sync_datagram);

   244

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

   245

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

   246

    if (ret < 0) {

   247

        ec_datagram_clear(&master->sync_datagram);

   248

        EC_MASTER_ERR(master, "Failed to allocate"

   249

                " synchronisation datagram.\n");

   250

        goto out_clear_ref_sync;

   251

    }

   252

   253

    // init sync monitor datagram

   254

    ec_datagram_init(&master->sync_mon_datagram);

   255

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

   256

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

   257

    if (ret < 0) {

   258

        ec_datagram_clear(&master->sync_mon_datagram);

   259

        EC_MASTER_ERR(master, "Failed to allocate sync"

   260

                " monitoring datagram.\n");

   261

        goto out_clear_sync;

   262

    }

   263

   264

    ec_master_find_dc_ref_clock(master);

   265

   266

    // init character device

   267

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

   268

    if (ret)

   269

        goto out_clear_sync_mon;

   270

   271

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

   272

    master->class_device = device_create(class, NULL,

   273

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

   274

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

   275

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

   276

    master->class_device = device_create(class, NULL,

   277

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

   278

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

   279

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

   280

    master->class_device = class_device_create(class, NULL,

   281

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

   282

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

   283

#else

   284

    master->class_device = class_device_create(class,

   285

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

   286

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

   287

#endif

   288

    if (IS_ERR(master->class_device)) {

   289

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

   290

        ret = PTR_ERR(master->class_device);

   291

        goto out_clear_cdev;

   292

    }

   293

   294

    return 0;

   295

   296

out_clear_cdev:

   297

    ec_cdev_clear(&master->cdev);

   298

out_clear_sync_mon:

   299

    ec_datagram_clear(&master->sync_mon_datagram);

   300

out_clear_sync:

   301

    ec_datagram_clear(&master->sync_datagram);

   302

out_clear_ref_sync:

   303

    ec_datagram_clear(&master->ref_sync_datagram);

   304

out_clear_fsm:

   305

    ec_fsm_master_clear(&master->fsm);

   306

    ec_datagram_clear(&master->fsm_datagram);

   307

out_clear_backup:

   308

    ec_device_clear(&master->backup_device);

   309

out_clear_main:

   310

    ec_device_clear(&master->main_device);

   311

out_return:

   312

    return ret;

   313

}

   314

   315

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

   316

   317

/** Destructor.

   318

*/

   319

void ec_master_clear(

   320

        ec_master_t *master /**< EtherCAT master */

   321

        )

   322

{

   323

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

   324

    device_unregister(master->class_device);

   325

#else

   326

    class_device_unregister(master->class_device);

   327

#endif

   328

   329

    ec_cdev_clear(&master->cdev);

   330

   331

#ifdef EC_EOE

   332

    ec_master_clear_eoe_handlers(master);

   333

#endif

   334

    ec_master_clear_domains(master);

   335

    ec_master_clear_slave_configs(master);

   336

    ec_master_clear_slaves(master);

   337

   338

    ec_datagram_clear(&master->sync_mon_datagram);

   339

    ec_datagram_clear(&master->sync_datagram);

   340

    ec_datagram_clear(&master->ref_sync_datagram);

   341

    ec_fsm_master_clear(&master->fsm);

   342

    ec_datagram_clear(&master->fsm_datagram);

   343

    ec_device_clear(&master->backup_device);

   344

    ec_device_clear(&master->main_device);

   345

}

   346

   347

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

   348

   349

#ifdef EC_EOE

   350

/** Clear and free all EoE handlers.

   351

 */

   352

void ec_master_clear_eoe_handlers(

   353

        ec_master_t *master /**< EtherCAT master */

   354

        )

   355

{

   356

    ec_eoe_t *eoe, *next;

   357

   358

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

   359

        list_del(&eoe->list);

   360

        ec_eoe_clear(eoe);

   361

        kfree(eoe);

   362

    }

   363

}

   364

#endif

   365

   366

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

   367

   368

/** Clear all slave configurations.

   369

 */

   370

void ec_master_clear_slave_configs(ec_master_t *master)

   371

{

   372

    ec_slave_config_t *sc, *next;

   373

   374

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

   375

        list_del(&sc->list);

   376

        ec_slave_config_clear(sc);

   377

        kfree(sc);

   378

    }

   379

}

   380

   381

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

   382

   383

/** Clear all slaves.

   384

 */

   385

void ec_master_clear_slaves(ec_master_t *master)

   386

{

   387

    ec_slave_t *slave;

   388

   389

    master->dc_ref_clock = NULL;

   390

   391

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

   392

    // them from the list

   393

   394

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

   395

        ec_sii_write_request_t *request =

   396

            list_entry(master->sii_requests.next,

   397

                    ec_sii_write_request_t, list);

   398

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

   399

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

   400

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

   401

        request->state = EC_INT_REQUEST_FAILURE;

   402

        wake_up(&master->sii_queue);

   403

    }

   404

   405

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

   406

        ec_reg_request_t *request =

   407

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

   408

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

   409

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

   410

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

   411

        request->state = EC_INT_REQUEST_FAILURE;

   412

        wake_up(&master->reg_queue);

   413

    }

   414

   415

    for (slave = master->slaves;

   416

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

   417

            slave++) {

   418

        ec_slave_clear(slave);

   419

    }

   420

   421

    if (master->slaves) {

   422

        kfree(master->slaves);

   423

        master->slaves = NULL;

   424

    }

   425

   426

    master->slave_count = 0;

   427

}

   428

   429

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

   430

   431

/** Clear all domains.

   432

 */

   433

void ec_master_clear_domains(ec_master_t *master)

   434

{

   435

    ec_domain_t *domain, *next;

   436

   437

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

   438

        list_del(&domain->list);

   439

        ec_domain_clear(domain);

   440

        kfree(domain);

   441

    }

   442

}

   443

   444

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

   445

   446

/** Clear the configuration applied by the application.

   447

 */

   448

void ec_master_clear_config(

   449

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

   450

        )

   451

{

   452

    down(&master->master_sem);

   453

    ec_master_clear_domains(master);

   454

    ec_master_clear_slave_configs(master);

   455

    up(&master->master_sem);

   456

}

   457

   458

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

   459

   460

/** Internal sending callback.

   461

 */

   462

void ec_master_internal_send_cb(

   463

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

   464

        )

   465

{

   466

    ec_master_t *master = (ec_master_t *) cb_data;

   467

    down(&master->io_sem);

   468

    ecrt_master_send_ext(master);

   469

    up(&master->io_sem);

   470

}

   471

   472

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

   473

   474

/** Internal receiving callback.

   475

 */

   476

void ec_master_internal_receive_cb(

   477

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

   478

        )

   479

{

   480

    ec_master_t *master = (ec_master_t *) cb_data;

   481

    down(&master->io_sem);

   482

    ecrt_master_receive(master);