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,

    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

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

    29

    30

/**

    31

   \file

    32

   EtherCAT master methods.

    33

*/

    34

    35

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

    36

    37

#include <linux/module.h>

    38

#include <linux/kernel.h>

    39

#include <linux/string.h>

    40

#include <linux/slab.h>

    41

#include <linux/delay.h>

    42

#include <linux/device.h>

    43

#include <linux/version.h>

    44

    45

#include "globals.h"

    46

#include "slave.h"

    47

#include "slave_config.h"

    48

#include "device.h"

    49

#include "datagram.h"

    50

#ifdef EC_EOE

    51

#include "ethernet.h"

    52

#endif

    53

#include "master.h"

    54

    55

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

    56

    57

#ifdef EC_HAVE_CYCLES

    58

    59

/** Frame timeout in cycles.

    60

 */

    61

static cycles_t timeout_cycles;

    62

    63

#else

    64

    65

/** Frame timeout in jiffies.

    66

 */

    67

static unsigned long timeout_jiffies;

    68

    69

#endif

    70

    71

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

    72

    73

void ec_master_clear_slave_configs(ec_master_t *);

    74

void ec_master_clear_domains(ec_master_t *);

    75

static int ec_master_idle_thread(void *);

    76

static int ec_master_operation_thread(void *);

    77

#ifdef EC_EOE

    78

void ec_master_eoe_run(unsigned long);

    79

#endif

    80

    81

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

    82

    83

/** Static variables initializer.

    84

*/

    85

void ec_master_init_static(void)

    86

{

    87

#ifdef EC_HAVE_CYCLES

    88

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

    89

#else

    90

    // one jiffy may always elapse between time measurement

    91

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

    92

#endif

    93

}

    94

    95

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

    96

    97

/**

    98

   Master constructor.

    99

   \return 0 in case of success, else < 0

   100

*/

   101

   102

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

   103

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

   104

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

   105

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

   106

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

   107

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

   108

        )

   109

{

   110

    int ret;

   111

   112

    master->index = index;

   113

    master->reserved = 0;

   114

   115

    init_MUTEX(&master->master_sem);

   116

   117

    master->main_mac = main_mac;

   118

    master->backup_mac = backup_mac;

   119

    init_MUTEX(&master->device_sem);

   120

   121

    master->phase = EC_ORPHANED;

   122

    master->injection_seq_fsm = 0;

   123

    master->injection_seq_rt = 0;

   124

   125

    master->slaves = NULL;

   126

    master->slave_count = 0;

   127

   128

    INIT_LIST_HEAD(&master->configs);

   129

   130

    master->scan_busy = 0;

   131

    master->allow_scan = 1;

   132

    init_MUTEX(&master->scan_sem);

   133

    init_waitqueue_head(&master->scan_queue);

   134

   135

    master->config_busy = 0;

   136

    master->allow_config = 1;

   137

    init_MUTEX(&master->config_sem);

   138

    init_waitqueue_head(&master->config_queue);

   139

   140

    INIT_LIST_HEAD(&master->datagram_queue);

   141

    master->datagram_index = 0;

   142

   143

    INIT_LIST_HEAD(&master->domains);

   144

   145

    master->debug_level = 0;

   146

    master->stats.timeouts = 0;

   147

    master->stats.corrupted = 0;

   148

    master->stats.unmatched = 0;

   149

    master->stats.output_jiffies = 0;

   150

    master->frames_timed_out = 0;

   151

   152

    master->thread = NULL;

   153

   154

#ifdef EC_EOE

   155

    init_timer(&master->eoe_timer);

   156

    master->eoe_timer.function = ec_master_eoe_run;

   157

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

   158

    master->eoe_running = 0;

   159

    INIT_LIST_HEAD(&master->eoe_handlers);

   160

#endif

   161

   162

    master->internal_lock = SPIN_LOCK_UNLOCKED;

   163

    master->request_cb = NULL;

   164

    master->release_cb = NULL;

   165

    master->cb_data = NULL;

   166

   167

    INIT_LIST_HEAD(&master->sii_requests);

   168

    init_waitqueue_head(&master->sii_queue);

   169

   170

    INIT_LIST_HEAD(&master->slave_sdo_requests);

   171

    init_waitqueue_head(&master->sdo_queue);

   172

   173

    INIT_LIST_HEAD(&master->reg_requests);

   174

    init_waitqueue_head(&master->reg_queue);

   175

   176

    INIT_LIST_HEAD(&master->foe_requests);

   177

    init_waitqueue_head(&master->foe_queue);

   178

   179

    // init devices

   180

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

   181

    if (ret < 0)

   182

        goto out_return;

   183

   184

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

   185

    if (ret < 0)

   186

        goto out_clear_main;

   187

   188

    // init state machine datagram

   189

    ec_datagram_init(&master->fsm_datagram);

   190

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

   191

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

   192

    if (ret < 0) {

   193

        ec_datagram_clear(&master->fsm_datagram);

   194

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

   195

        goto out_clear_backup;

   196

    }

   197

   198

    // create state machine object

   199

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

   200

   201

    // init reference sync datagram

   202

    ec_datagram_init(&master->ref_sync_datagram);

   203

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

   204

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

   205

    if (ret < 0) {

   206

        ec_datagram_clear(&master->ref_sync_datagram);

   207

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

   208

        goto out_clear_fsm;

   209

    }

   210

   211

    // init sync datagram

   212

    ec_datagram_init(&master->sync_datagram);

   213

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

   214

    ret = ec_datagram_armw(&master->sync_datagram, 0 /* FIXME */, 0x0910, 4);

   215

    if (ret < 0) {

   216

        ec_datagram_clear(&master->sync_datagram);

   217

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

   218

        goto out_clear_ref_sync;

   219

    }

   220

   221

    // init character device

   222

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

   223

    if (ret)

   224

        goto out_clear_sync;

   225

   226

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

   227

    master->class_device = device_create(class, NULL,

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

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

   230

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

   231

    master->class_device = device_create(class, NULL,

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

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

   234

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

   235

    master->class_device = class_device_create(class, NULL,

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

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

   238

#else

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    master->class_device = class_device_create(class,

   240

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

   241

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

   242

#endif

   243

    if (IS_ERR(master->class_device)) {

   244

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

   245

        ret = PTR_ERR(master->class_device);

   246

        goto out_clear_cdev;

   247

    }

   248

   249

    return 0;

   250

   251

out_clear_cdev:

   252

    ec_cdev_clear(&master->cdev);

   253

out_clear_sync:

   254

    ec_datagram_clear(&master->sync_datagram);

   255

out_clear_ref_sync:

   256

    ec_datagram_clear(&master->ref_sync_datagram);

   257

out_clear_fsm:

   258

    ec_fsm_master_clear(&master->fsm);

   259

    ec_datagram_clear(&master->fsm_datagram);

   260

out_clear_backup:

   261

    ec_device_clear(&master->backup_device);

   262

out_clear_main:

   263

    ec_device_clear(&master->main_device);

   264

out_return:

   265

    return ret;

   266

}

   267

   268

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

   269

   270

/** Destructor.

   271

*/

   272

void ec_master_clear(

   273

        ec_master_t *master /**< EtherCAT master */

   274

        )

   275

{

   276

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

   277

    device_unregister(master->class_device);

   278

#else

   279

    class_device_unregister(master->class_device);

   280

#endif

   281

   282

    ec_cdev_clear(&master->cdev);

   283

   284

#ifdef EC_EOE

   285

    ec_master_clear_eoe_handlers(master);

   286

#endif

   287

    ec_master_clear_domains(master);

   288

    ec_master_clear_slave_configs(master);

   289

    ec_master_clear_slaves(master);

   290

   291

    ec_datagram_clear(&master->sync_datagram);

   292

    ec_datagram_clear(&master->ref_sync_datagram);

   293

    ec_fsm_master_clear(&master->fsm);

   294

    ec_datagram_clear(&master->fsm_datagram);

   295

    ec_device_clear(&master->backup_device);

   296

    ec_device_clear(&master->main_device);

   297

}

   298

   299

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

   300

   301

#ifdef EC_EOE

   302

/** Clear and free all EoE handlers.

   303

 */

   304

void ec_master_clear_eoe_handlers(

   305

        ec_master_t *master /**< EtherCAT master */

   306

        )

   307

{

   308

    ec_eoe_t *eoe, *next;

   309

   310

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

   311

        list_del(&eoe->list);

   312

        ec_eoe_clear(eoe);

   313

        kfree(eoe);

   314

    }

   315

}

   316

#endif

   317

   318

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

   319

   320

/** Clear all slave configurations.

   321

 */

   322

void ec_master_clear_slave_configs(ec_master_t *master)

   323

{

   324

    ec_slave_config_t *sc, *next;

   325

   326

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

   327

        list_del(&sc->list);

   328

        ec_slave_config_clear(sc);

   329

        kfree(sc);

   330

    }

   331

}

   332

   333

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

   334

   335

/** Clear all slaves.

   336

 */

   337

void ec_master_clear_slaves(ec_master_t *master)

   338

{

   339

    ec_slave_t *slave;

   340

   341

    for (slave = master->slaves;

   342

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

   343

            slave++) {

   344

        ec_slave_clear(slave);

   345

    }

   346

   347

    if (master->slaves) {

   348

        kfree(master->slaves);

   349

        master->slaves = NULL;

   350

    }

   351

   352

    master->slave_count = 0;

   353

}

   354

   355

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

   356

   357

/** Clear all domains.

   358

 */

   359

void ec_master_clear_domains(ec_master_t *master)

   360

{

   361

    ec_domain_t *domain, *next;

   362

   363

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

   364

        list_del(&domain->list);

   365

        ec_domain_clear(domain);

   366

        kfree(domain);

   367

    }

   368

}

   369

   370

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

   371

   372

/** Internal locking callback.

   373

 */

   374

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

   375

{

   376

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

   377

    return 0;

   378

}

   379

   380

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

   381

   382

/** Internal unlocking callback.

   383

 */

   384

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

   385

{

   386

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

   387

}

   388

   389

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

   390

   391

/** Starts the master thread.

   392

 *

   393

 * \retval  0 Success.

   394

 * \retval <0 Error code.

   395

 */

   396

int ec_master_thread_start(

   397

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

   398

        int (*thread_func)(void *), /**< thread function to start */

   399

        const char *name /**< Thread name. */

   400

        )

   401

{

   402

    EC_INFO("Starting %s thread.\n", name);

   403

    master->thread = kthread_run(thread_func, master, name);

   404

    if (IS_ERR(master->thread)) {

   405

        int err = (int) PTR_ERR(master->thread);

   406

        EC_ERR("Failed to start master thread (error %i)!\n", err);

   407

        master->thread = NULL;

   408

        return err;

   409

    }

   410

   411

    return 0;

   412

}

   413

   414

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

   415

   416

/** Stops the master thread.

   417

 */

   418

void ec_master_thread_stop(

   419

        ec_master_t *master /**< EtherCAT master */

   420

        )

   421

{

   422

    unsigned long sleep_jiffies;

   423

   424

    if (!master->thread) {

   425

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

   426

        return;

   427

    }

   428

   429

    if (master->debug_level)

   430

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

   431

   432

    kthread_stop(master->thread);

   433

    master->thread = NULL;

   434

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

   435

   436

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

   437

        return;

   438

   439

    // wait for FSM datagram

   440

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

   441

    schedule_timeout(sleep_jiffies);

   442

}

   443

   444

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

   445

   446

/** Transition function from ORPHANED to IDLE phase.

   447

 */

   448

int ec_master_enter_idle_phase(

   449

        ec_master_t *master /**< EtherCAT master */

   450

        )

   451

{

   452

    int ret;

   453

   454

    if (master->debug_level)

   455

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

   456

   457

    master->request_cb = ec_master_request_cb;

   458

    master->release_cb = ec_master_release_cb;

   459

    master->cb_data = master;

   460

   461

    master->phase = EC_IDLE;

   462

    ret = ec_master_thread_start(master, ec_master_idle_thread,

   463

            "EtherCAT-IDLE");

   464

    if (ret)

   465

        master->phase = EC_ORPHANED;

   466

   467

    return ret;

   468

}

   469

   470

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

   471

   472

/** Transition function from IDLE to ORPHANED phase.

   473

 */

   474

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

   475

{

   476

    if (master->debug_level)

   477

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

   478

   479

    master->phase = EC_ORPHANED;

   480

   481

#ifdef EC_EOE

   482

    ec_master_eoe_stop(master);

   483

#endif