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

    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_destroy_domains(ec_master_t *);

    59

void ec_master_sync_io(ec_master_t *);

    60

static int ec_master_thread(void *);

    61

void ec_master_eoe_run(unsigned long);

    62

void ec_master_check_sdo(unsigned long);

    63

int ec_master_measure_bus_time(ec_master_t *);

    64

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

    65

ssize_t ec_store_master_attribute(struct kobject *, struct attribute *,

    66

                                  const char *, size_t);

    67

    68

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

    69

    70

/** \cond */

    71

    72

EC_SYSFS_READ_ATTR(info);

    73

EC_SYSFS_READ_WRITE_ATTR(debug_level);

    74

    75

static struct attribute *ec_def_attrs[] = {

    76

    &attr_info,

    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

        struct kobject *module_kobj, /**< kobject of the master module */

   103

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

   104

        const ec_device_id_t *main_id, /**< ID of main device */

   105

        const ec_device_id_t *backup_id, /**< ID of main device */

   106

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

   107

        )

   108

{

   109

    ec_eoe_t *eoe, *next_eoe;

   110

    unsigned int i;

   111

   112

    atomic_set(&master->available, 1);

   113

    master->index = index;

   114

   115

    master->main_device_id = main_id;

   116

    master->backup_device_id = backup_id;

   117

    init_MUTEX(&master->device_sem);

   118

   119

    master->mode = EC_MASTER_MODE_ORPHANED;

   120

   121

    INIT_LIST_HEAD(&master->slaves);

   122

    master->slave_count = 0;

   123

   124

    INIT_LIST_HEAD(&master->datagram_queue);

   125

    master->datagram_index = 0;

   126

   127

    INIT_LIST_HEAD(&master->domains);

   128

    master->debug_level = 0;

   129

   130

    master->stats.timeouts = 0;

   131

    master->stats.corrupted = 0;

   132

    master->stats.skipped = 0;

   133

    master->stats.unmatched = 0;

   134

    master->stats.output_jiffies = 0;

   135

   136

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

   137

        master->idle_cycle_times[i] = 0;

   138

        master->eoe_cycle_times[i] = 0;

   139

    }

   140

    master->idle_cycle_time_pos = 0;

   141

    master->eoe_cycle_time_pos = 0;

   142

   143

    init_timer(&master->eoe_timer);

   144

    master->eoe_timer.function = ec_master_eoe_run;

   145

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

   146

    master->eoe_running = 0;

   147

    master->eoe_checked = 0;

   148

    INIT_LIST_HEAD(&master->eoe_handlers);

   149

   150

    master->internal_lock = SPIN_LOCK_UNLOCKED;

   151

    master->request_cb = NULL;

   152

    master->release_cb = NULL;

   153

    master->cb_data = NULL;

   154

   155

    INIT_LIST_HEAD(&master->eeprom_requests);

   156

    init_MUTEX(&master->eeprom_sem);

   157

    init_waitqueue_head(&master->eeprom_queue);

   158

   159

    master->sdo_request = NULL;

   160

    master->sdo_seq_user = 0;

   161

    master->sdo_seq_master = 0;

   162

    init_MUTEX(&master->sdo_sem);

   163

    init_timer(&master->sdo_timer);

   164

    master->sdo_timer.function = ec_master_check_sdo;

   165

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

   166

    init_completion(&master->sdo_complete);

   167

   168

    // init devices

   169

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

   170

        goto out_return;

   171

   172

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

   173

        goto out_clear_main;

   174

   175

    // create EoE handlers

   176

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

   177

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

   178

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

   179

            goto out_clear_eoe;

   180

        }

   181

        if (ec_eoe_init(eoe)) {

   182

            kfree(eoe);

   183

            goto out_clear_eoe;

   184

        }

   185

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

   186

    }

   187

   188

    // init state machine datagram

   189

    ec_datagram_init(&master->fsm_datagram);

   190

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

   191

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

   192

        goto out_clear_eoe;

   193

    }

   194

   195

    // create state machine object

   196

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

   197

   198

    // init kobject and add it to the hierarchy

   199

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

   200

    kobject_init(&master->kobj);

   201

    master->kobj.ktype = &ktype_ec_master;

   202

    master->kobj.parent = module_kobj;

   203

   204

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

   205

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

   206

        kobject_put(&master->kobj);

   207

        return -1;

   208

    }

   209

   210

    if (kobject_add(&master->kobj)) {

   211

        EC_ERR("Failed to add master kobject.\n");

   212

        kobject_put(&master->kobj);

   213

        return -1;

   214

    }

   215

   216

    return 0;

   217

   218

out_clear_eoe:

   219

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

   220

        list_del(&eoe->list);

   221

        ec_eoe_clear(eoe);

   222

        kfree(eoe);

   223

    }

   224

    ec_device_clear(&master->backup_device);

   225

out_clear_main:

   226

    ec_device_clear(&master->main_device);

   227

out_return:

   228

    return -1;

   229

}

   230

   231

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

   232

   233

/**

   234

   Master destructor.

   235

   Clears the kobj-hierarchy bottom up and frees the master.

   236

*/

   237

   238

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

   239

{

   240

    ec_master_destroy_slaves(master);

   241

    ec_master_destroy_domains(master);

   242

   243

    // destroy self

   244

    kobject_del(&master->kobj);

   245

    kobject_put(&master->kobj); // free master

   246

}

   247

   248

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

   249

   250

/**

   251

   Clear and free master.

   252

   This method is called by the kobject,

   253

   once there are no more references to it.

   254

*/

   255

   256

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

   257

{

   258

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

   259

    ec_eoe_t *eoe, *next_eoe;

   260

    ec_datagram_t *datagram, *next_datagram;

   261

   262

    // list of EEPROM requests is empty,

   263

    // otherwise master could not be cleared.

   264

   265

    // dequeue all datagrams

   266

    list_for_each_entry_safe(datagram, next_datagram,

   267

                             &master->datagram_queue, queue) {

   268

        datagram->state = EC_DATAGRAM_ERROR;

   269

        list_del_init(&datagram->queue);

   270

    }

   271

   272

    ec_fsm_master_clear(&master->fsm);

   273

    ec_datagram_clear(&master->fsm_datagram);

   274

   275

    // clear EoE objects

   276

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

   277

        list_del(&eoe->list);

   278

        ec_eoe_clear(eoe);

   279

        kfree(eoe);

   280

    }

   281

   282

    ec_device_clear(&master->backup_device);

   283

    ec_device_clear(&master->main_device);

   284

   285

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

   286

   287

    kfree(master);

   288

}

   289

   290

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

   291

   292

/**

   293

   Destroy all slaves.

   294

*/

   295

   296

void ec_master_destroy_slaves(ec_master_t *master)

   297

{

   298

    ec_slave_t *slave, *next_slave;

   299

   300

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

   301

        list_del(&slave->list);

   302

        ec_slave_destroy(slave);

   303

    }

   304

   305

    master->slave_count = 0;

   306

}

   307

   308

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

   309

   310

/**

   311

   Destroy all domains.

   312

*/

   313

   314

void ec_master_destroy_domains(ec_master_t *master)

   315

{

   316

    ec_domain_t *domain, *next_d;

   317

   318

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

   319

        list_del(&domain->list);

   320

        ec_domain_destroy(domain);

   321

    }

   322

}

   323

   324

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

   325

   326

/**

   327

   Flushes the SDO request queue.

   328

*/

   329

   330

void ec_master_flush_sdo_requests(ec_master_t *master)

   331

{

   332

    del_timer_sync(&master->sdo_timer);

   333

    complete(&master->sdo_complete);

   334

    master->sdo_request = NULL;

   335

    master->sdo_seq_user = 0;

   336

    master->sdo_seq_master = 0;

   337

}

   338

   339

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

   340

   341

/**

   342

   Internal locking callback.

   343

*/

   344

   345

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

   346

{

   347

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

   348

    return 0;

   349

}

   350

   351

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

   352

   353

/**

   354

   Internal unlocking callback.

   355

*/

   356

   357

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

   358

{

   359

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

   360

}

   361

   362

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

   363

   364

/**

   365

 * Starts the master thread.

   366

*/

   367

   368

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

   369

{

   370

    init_completion(&master->thread_exit);

   371

   372

    EC_INFO("Starting master thread.\n");

   373

    if (!(master->thread_id =

   374

                kernel_thread(ec_master_thread, master, CLONE_KERNEL)))

   375

        return -1;

   376

   377

    return 0;

   378

}

   379

   380

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

   381

   382

/**

   383

 * Stops the master thread.

   384

*/

   385

   386

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

   387

{

   388

    if (master->thread_id) {

   389

        kill_proc(master->thread_id, SIGTERM, 1);

   390

        wait_for_completion(&master->thread_exit);

   391

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

   392

    }    

   393

}

   394

   395

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

   396

   397

/**

   398

 * Transition function from ORPHANED to IDLE mode.

   399

*/

   400

   401

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

   402

{

   403

    master->request_cb = ec_master_request_cb;

   404

    master->release_cb = ec_master_release_cb;

   405

    master->cb_data = master;

   406

   407

    master->mode = EC_MASTER_MODE_IDLE;

   408

    if (ec_master_thread_start(master)) {

   409

        master->mode = EC_MASTER_MODE_ORPHANED;

   410

        return -1;

   411

    }

   412

   413

    return 0;

   414

}

   415

   416

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

   417

   418

/**

   419

 * Transition function from IDLE to ORPHANED mode.

   420

*/

   421

   422

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

   423

{

   424

    master->mode = EC_MASTER_MODE_ORPHANED;

   425

   426

    ec_master_eoe_stop(master);

   427

    ec_master_thread_stop(master);

   428

    ec_master_flush_sdo_requests(master);

   429

    ec_master_destroy_slaves(master);

   430

}

   431

   432

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

   433

   434

/**

   435

 * Transition function from IDLE to OPERATION mode.

   436

*/

   437

   438

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

   439

{

   440

    ec_slave_t *slave;

   441

   442

    ec_master_eoe_stop(master); // stop EoE timer

   443

    master->eoe_checked = 1; // prevent from starting again by FSM

   444

    ec_master_thread_stop(master);

   445

   446

    master->mode = EC_MASTER_MODE_OPERATION;

   447

   448

    // wait for FSM datagram

   449

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

   450

        while (get_cycles() - master->fsm_datagram.cycles_sent

   451

               < (cycles_t) EC_IO_TIMEOUT /* us */ * (cpu_khz / 1000)) {}

   452

        ecrt_master_receive(master);

   453

    }

   454

   455

    // finish running master FSM

   456

    if (ec_fsm_master_running(&master->fsm)) {

   457

        while (ec_fsm_master_exec(&master->fsm)) {

   458

            ec_master_sync_io(master);

   459

        }

   460

    }

   461

   462

    if (master->debug_level) {

   463

        if (ec_master_measure_bus_time(master)) {

   464

            EC_ERR("Bus time measuring failed!\n");

   465

            goto out_idle;

   466

        }

   467

    }

   468

   469

    // set initial slave states

   470

    list_for_each_entry(slave, &master->slaves, list) {

   471

        if (ec_slave_is_coupler(slave)) {

   472

            ec_slave_request_state(slave, EC_SLAVE_STATE_OP);

   473

        }

   474

        else {

   475

            ec_slave_request_state(slave, EC_SLAVE_STATE_PREOP);

   476

        }

   477

    }

   478

   479

    master->eoe_checked = 0; // allow starting EoE again

   480

    master->pdo_slaves_offline = 0; // assume all PDO slaves online

   481

   482

    return 0;

   483

   484

 out_idle:

   485

    master->mode = EC_MASTER_MODE_IDLE;

   486

    if (ec_master_thread_start(master)) {

   487

        EC_WARN("Failed to start master thread again!\n");