1

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

     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

#ifdef EC_HAVE_CYCLES

    62

    63

/** Frame timeout in cycles.

    64

 */

    65

static cycles_t timeout_cycles;

    66

    67

#else

    68

    69

/** Frame timeout in jiffies.

    70

 */

    71

static unsigned long timeout_jiffies;

    72

    73

#endif

    74

    75

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

    76

    77

void ec_master_clear_slave_configs(ec_master_t *);

    78

void ec_master_clear_domains(ec_master_t *);

    79

static int ec_master_idle_thread(void *);

    80

static int ec_master_operation_thread(void *);

    81

#ifdef EC_EOE

    82

void ec_master_eoe_run(unsigned long);

    83

#endif

    84

    85

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

    86

    87

/** Static variables initializer.

    88

*/

    89

void ec_master_init_static(void)

    90

{

    91

#ifdef EC_HAVE_CYCLES

    92

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

    93

#else

    94

    // one jiffy may always elapse between time measurement

    95

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

    96

#endif

    97

}

    98

    99

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

   100

   101

/**

   102

   Master constructor.

   103

   \return 0 in case of success, else < 0

   104

*/

   105

   106

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

   107

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

   108

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

   109

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

   110

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

   111

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

   112

        )

   113

{

   114

    master->index = index;

   115

    master->reserved = 0;

   116

   117

    init_MUTEX(&master->master_sem);

   118

   119

    master->main_mac = main_mac;

   120

    master->backup_mac = backup_mac;

   121

    init_MUTEX(&master->device_sem);

   122

   123

    master->phase = EC_ORPHANED;

   124

    master->injection_seq_fsm = 0;

   125

    master->injection_seq_rt = 0;

   126

   127

    master->slaves = NULL;

   128

    master->slave_count = 0;

   129

   130

    INIT_LIST_HEAD(&master->configs);

   131

   132

    master->scan_busy = 0;

   133

    master->allow_scan = 1;

   134

    init_MUTEX(&master->scan_sem);

   135

    init_waitqueue_head(&master->scan_queue);

   136

   137

    master->config_busy = 0;

   138

    master->allow_config = 1;

   139

    init_MUTEX(&master->config_sem);

   140

    init_waitqueue_head(&master->config_queue);

   141

   142

    INIT_LIST_HEAD(&master->datagram_queue);

   143

    master->datagram_index = 0;

   144

   145

    INIT_LIST_HEAD(&master->domains);

   146

   147

    master->debug_level = 0;

   148

    master->stats.timeouts = 0;

   149

    master->stats.corrupted = 0;

   150

    master->stats.unmatched = 0;

   151

    master->stats.output_jiffies = 0;

   152

    master->frames_timed_out = 0;

   153

   154

    master->thread = NULL;

   155

   156

#ifdef EC_EOE

   157

    init_timer(&master->eoe_timer);

   158

    master->eoe_timer.function = ec_master_eoe_run;

   159

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

   160

    master->eoe_running = 0;

   161

    INIT_LIST_HEAD(&master->eoe_handlers);

   162

#endif

   163

   164

    master->internal_lock = SPIN_LOCK_UNLOCKED;

   165

    master->request_cb = NULL;

   166

    master->release_cb = NULL;

   167

    master->cb_data = NULL;

   168

   169

    INIT_LIST_HEAD(&master->sii_requests);

   170

    init_waitqueue_head(&master->sii_queue);

   171

   172

    INIT_LIST_HEAD(&master->slave_sdo_requests);

   173

    init_waitqueue_head(&master->sdo_queue);

   174

   175

    INIT_LIST_HEAD(&master->phy_requests);

   176

    init_waitqueue_head(&master->phy_queue);

   177

   178

    // init devices

   179

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

   180

        goto out_return;

   181

   182

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

   183

        goto out_clear_main;

   184

   185

    // init state machine datagram

   186

    ec_datagram_init(&master->fsm_datagram);

   187

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

   188

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

   189

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

   190

        goto out_clear_backup;

   191

    }

   192

   193

    // create state machine object

   194

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

   195

   196

    // init character device

   197

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

   198

        goto out_clear_fsm;

   199

   200

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

   201

    master->class_device = device_create(class, NULL,

   202

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

   203

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

   204

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

   205

    master->class_device = class_device_create(class, NULL,

   206

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

   207

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

   208

#else

   209

    master->class_device = class_device_create(class,

   210

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

   211

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

   212

#endif

   213

    if (IS_ERR(master->class_device)) {

   214

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

   215

        goto out_clear_cdev;

   216

    }

   217

   218

    return 0;

   219

   220

out_clear_cdev:

   221

    ec_cdev_clear(&master->cdev);

   222

out_clear_fsm:

   223

    ec_fsm_master_clear(&master->fsm);

   224

    ec_datagram_clear(&master->fsm_datagram);

   225

out_clear_backup:

   226

    ec_device_clear(&master->backup_device);

   227

out_clear_main:

   228

    ec_device_clear(&master->main_device);

   229

out_return:

   230

    return -1;

   231

}

   232

   233

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

   234

   235

/** Destructor.

   236

*/

   237

void ec_master_clear(

   238

        ec_master_t *master /**< EtherCAT master */

   239

        )

   240

{

   241

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

   242

    device_unregister(master->class_device);

   243

#else

   244

    class_device_unregister(master->class_device);

   245

#endif

   246

    ec_cdev_clear(&master->cdev);

   247

#ifdef EC_EOE

   248

    ec_master_clear_eoe_handlers(master);

   249

#endif

   250

    ec_master_clear_domains(master);

   251

    ec_master_clear_slave_configs(master);

   252

    ec_master_clear_slaves(master);

   253

    ec_fsm_master_clear(&master->fsm);

   254

    ec_datagram_clear(&master->fsm_datagram);

   255

    ec_device_clear(&master->backup_device);

   256

    ec_device_clear(&master->main_device);

   257

}

   258

   259

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

   260

   261

#ifdef EC_EOE

   262

/** Clear and free all EoE handlers.

   263

 */

   264

void ec_master_clear_eoe_handlers(

   265

        ec_master_t *master /**< EtherCAT master */

   266

        )

   267

{

   268

    ec_eoe_t *eoe, *next;

   269

   270

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

   271

        list_del(&eoe->list);

   272

        ec_eoe_clear(eoe);

   273

        kfree(eoe);

   274

    }

   275

}

   276

#endif

   277

   278

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

   279

   280

/** Clear all slave configurations.

   281

 */

   282

void ec_master_clear_slave_configs(ec_master_t *master)

   283

{

   284

    ec_slave_config_t *sc, *next;

   285

   286

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

   287

        list_del(&sc->list);

   288

        ec_slave_config_clear(sc);

   289

        kfree(sc);

   290

    }

   291

}

   292

   293

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

   294

   295

/** Clear all slaves.

   296

 */

   297

void ec_master_clear_slaves(ec_master_t *master)

   298

{

   299

    ec_slave_t *slave;

   300

   301

    for (slave = master->slaves;

   302

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

   303

            slave++) {

   304

        ec_slave_clear(slave);

   305

    }

   306

   307

    if (master->slaves) {

   308

        kfree(master->slaves);

   309

        master->slaves = NULL;

   310

    }

   311

   312

    master->slave_count = 0;

   313

}

   314

   315

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

   316

   317

/** Clear all domains.

   318

 */

   319

void ec_master_clear_domains(ec_master_t *master)

   320

{

   321

    ec_domain_t *domain, *next;

   322

   323

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

   324

        list_del(&domain->list);

   325

        ec_domain_clear(domain);

   326

        kfree(domain);

   327

    }

   328

}

   329

   330

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

   331

   332

/** Internal locking callback.

   333

 */

   334

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

   335

{

   336

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

   337

    return 0;

   338

}

   339

   340

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

   341

   342

/** Internal unlocking callback.

   343

 */

   344

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

   345

{

   346

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

   347

}

   348

   349

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

   350

   351

/** Starts the master thread.

   352

 */

   353

int ec_master_thread_start(

   354

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

   355

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

   356

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

   357

        )

   358

{

   359

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

   360

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

   361

    if (IS_ERR(master->thread)) {

   362

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

   363

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

   364

        master->thread = NULL;

   365

        return -1;

   366

    }

   367

   368

    return 0;

   369

}

   370

   371

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

   372

   373

/** Stops the master thread.

   374

 */

   375

void ec_master_thread_stop(

   376

        ec_master_t *master /**< EtherCAT master */

   377

        )

   378

{

   379

    unsigned long sleep_jiffies;

   380

   381

    if (!master->thread) {

   382

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

   383

        return;

   384

    }

   385

   386

    if (master->debug_level)

   387

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

   388

   389

    kthread_stop(master->thread);

   390

    master->thread = NULL;

   391

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

   392

   393

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

   394

        return;

   395

   396

    // wait for FSM datagram

   397

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

   398

    schedule_timeout(sleep_jiffies);

   399

}

   400

   401

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

   402

   403

/** Transition function from ORPHANED to IDLE phase.

   404

 */

   405

int ec_master_enter_idle_phase(

   406

        ec_master_t *master /**< EtherCAT master */

   407

        )

   408

{

   409

    if (master->debug_level)

   410

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

   411

   412

    master->request_cb = ec_master_request_cb;

   413

    master->release_cb = ec_master_release_cb;

   414

    master->cb_data = master;

   415

   416

    master->phase = EC_IDLE;

   417

    if (ec_master_thread_start(master, ec_master_idle_thread,

   418

                "EtherCAT-IDLE")) {

   419

        master->phase = EC_ORPHANED;

   420

        return -1;

   421

    }

   422

   423

    return 0;

   424

}

   425

   426

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

   427

   428

/** Transition function from IDLE to ORPHANED phase.

   429

 */

   430

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

   431

{

   432

    if (master->debug_level)

   433

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

   434

   435

    master->phase = EC_ORPHANED;

   436

   437

#ifdef EC_EOE

   438

    ec_master_eoe_stop(master);

   439

#endif

   440

    ec_master_thread_stop(master);

   441

   442

    down(&master->master_sem);

   443

    ec_master_clear_slaves(master);

   444

    up(&master->master_sem);

   445

}

   446

   447

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

   448

   449

/** Transition function from IDLE to OPERATION phase.

   450

 */

   451

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

   452

{

   453

    ec_slave_t *slave;

   454

#ifdef EC_EOE

   455

    ec_eoe_t *eoe;

   456

#endif

   457

   458

    if (master->debug_level)

   459

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

   460

   461

    down(&master->config_sem);

   462

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

   463

    if (master->config_busy) {

   464

        up(&master->config_sem);

   465

   466

        // wait for slave configuration to complete

   467

        if (wait_event_interruptible(master->config_queue,

   468

                    !master->config_busy)) {

   469

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

   470

            goto out_allow;

   471

        }

   472

   473

        if (master->debug_level)

   474

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

   475

    } else {

   476

        up(&master->config_sem);

   477

    }

   478

   479

    down(&master->scan_sem);

   480

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

   481

    if (!master->scan_busy) {

   482

        up(&master->scan_sem);

   483

    } else {

   484