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

     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; version 2 of the License.

    12

 *

    13

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

    14

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

    15

 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

    16

 *  GNU General Public License for more details.

    17

 *

    18

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

    19

 *  along 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

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 *

    22

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

    23

    24

/**

    25

   \file

    26

   EtherCAT master methods.

    27

*/

    28

    29

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

    30

    31

#include <linux/module.h>

    32

#include <linux/kernel.h>

    33

#include <linux/string.h>

    34

#include <linux/slab.h>

    35

#include <linux/delay.h>

    36

    37

#include "../include/ecrt.h"

    38

#include "globals.h"

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#include "master.h"

    40

#include "slave.h"

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#include "types.h"

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#include "device.h"

    43

#include "command.h"

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#include "ethernet.h"

    45

    46

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

    47

    48

void ec_master_freerun(void *);

    49

#ifdef EOE_TIMER

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void ec_master_run_eoe(unsigned long);

    51

#else

    52

void ec_master_run_eoe(void *);

    53

#endif

    54

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

    55

void ec_master_process_watch_command(ec_master_t *);

    56

    57

// state functions

    58

void ec_master_state_start(ec_master_t *);

    59

void ec_master_state_slave(ec_master_t *);

    60

void ec_master_state_finished(ec_master_t *);

    61

    62

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

    63

    64

/** \cond */

    65

    66

EC_SYSFS_READ_ATTR(slave_count);

    67

EC_SYSFS_READ_ATTR(mode);

    68

    69

static struct attribute *ec_def_attrs[] = {

    70

    &attr_slave_count,

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    &attr_mode,

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    NULL,

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};

    74

    75

static struct sysfs_ops ec_sysfs_ops = {

    76

    .show = &ec_show_master_attribute,

    77

    .store = NULL

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};

    79

    80

static struct kobj_type ktype_ec_master = {

    81

    .release = ec_master_clear,

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    .sysfs_ops = &ec_sysfs_ops,

    83

    .default_attrs = ec_def_attrs

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};

    85

    86

/** \endcond */

    87

    88

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

    89

    90

/**

    91

   Master constructor.

    92

   \return 0 in case of success, else < 0

    93

*/

    94

    95

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

    96

                   unsigned int index /**< master index */

    97

                   )

    98

{

    99

    EC_INFO("Initializing master %i.\n", index);

   100

   101

    master->index = index;

   102

    master->device = NULL;

   103

    master->reserved = 0;

   104

   105

    INIT_LIST_HEAD(&master->slaves);

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    INIT_LIST_HEAD(&master->command_queue);

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    INIT_LIST_HEAD(&master->domains);

   108

    INIT_LIST_HEAD(&master->eoe_slaves);

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   110

    ec_command_init(&master->simple_command);

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    ec_command_init(&master->watch_command);

   112

   113

    if (!(master->workqueue = create_singlethread_workqueue("EoE"))) {

   114

        EC_ERR("Failed to create master workqueue.\n");

   115

        goto out_return;

   116

    }

   117

   118

    // init freerun work

   119

    INIT_WORK(&master->freerun_work, ec_master_freerun, (void *) master);

   120

   121

    // init eoe timer

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#ifdef EOE_TIMER

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    init_timer(&master->eoe_timer);

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    master->eoe_timer.function = ec_master_run_eoe;

   125

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

   126

#else

   127

    INIT_WORK(&master->eoe_work, ec_master_run_eoe, (void *) master);

   128

#endif

   129

   130

    // init kobject and add it to the hierarchy

   131

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

   132

    kobject_init(&master->kobj);

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    master->kobj.ktype = &ktype_ec_master;

   134

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

   135

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

   136

        goto out_kobj_put;

   137

    }

   138

   139

    ec_master_reset(master);

   140

    return 0;

   141

   142

 out_kobj_put:

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    kobject_put(&master->kobj);

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 out_return:

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    return -1;

   146

}

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   148

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

   149

   150

/**

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   Master destructor.

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   Removes all pending commands, clears the slave list, clears all domains

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   and frees the device.

   154

*/

   155

   156

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

   157

{

   158

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

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   160

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

   161

   162

    ec_master_reset(master);

   163

   164

    if (master->device) {

   165

        ec_device_clear(master->device);

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        kfree(master->device);

   167

    }

   168

   169

    ec_command_clear(&master->simple_command);

   170

    ec_command_clear(&master->watch_command);

   171

   172

    destroy_workqueue(master->workqueue);

   173

   174

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

   175

}

   176

   177

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

   178

   179

/**

   180

   Resets the master.

   181

   Note: This function has to be called, everytime ec_master_release() is

   182

   called, to free the slave list, domains etc.

   183

*/

   184

   185

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

   186

{

   187

    ec_slave_t *slave, *next_s;

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    ec_command_t *command, *next_c;

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    ec_domain_t *domain, *next_d;

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    ec_eoe_t *eoe, *next_eoe;

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   192

    // stop EoE processing

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#ifdef EOE_TIMER

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    del_timer_sync(&master->eoe_timer);

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#else

   196

    if (!cancel_delayed_work(&master->eoe_work)) {

   197

        flush_workqueue(master->eoe_workqueue);

   198

    }

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#endif

   200

   201

    // stop free-run mode

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    ec_master_freerun_stop(master);

   203

   204

    // remove all slaves

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

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        list_del(&slave->list);

   207

        kobject_del(&slave->kobj);

   208

        kobject_put(&slave->kobj);

   209

    }

   210

    master->slave_count = 0;

   211

   212

    // empty command queue

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    list_for_each_entry_safe(command, next_c, &master->command_queue, queue) {

   214

        list_del_init(&command->queue);

   215

        command->state = EC_CMD_ERROR;

   216

    }

   217

   218

    // clear domains

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

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        list_del(&domain->list);

   221

        kobject_del(&domain->kobj);

   222

        kobject_put(&domain->kobj);

   223

    }

   224

   225

    // clear EoE objects

   226

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

   227

        list_del(&eoe->list);

   228

        ec_eoe_clear(eoe);

   229

        kfree(eoe);

   230

    }

   231

   232

    master->command_index = 0;

   233

    master->debug_level = 0;

   234

    master->timeout = 500; // 500us

   235

   236

    master->slaves_responding = 0;

   237

    master->slave_states = EC_SLAVE_STATE_UNKNOWN;

   238

   239

    master->stats.timeouts = 0;

   240

    master->stats.delayed = 0;

   241

    master->stats.corrupted = 0;

   242

    master->stats.unmatched = 0;

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    master->stats.t_last = 0;

   244

   245

    master->mode = EC_MASTER_MODE_IDLE;

   246

   247

    master->request_cb = NULL;

   248

    master->release_cb = NULL;

   249

    master->cb_data = NULL;

   250

}

   251

   252

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

   253

   254

/**

   255

   Places a command in the command queue.

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*/

   257

   258

void ec_master_queue_command(ec_master_t *master, /**< EtherCAT master */

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                             ec_command_t *command /**< command */

   260

                             )

   261

{

   262

    ec_command_t *queued_command;

   263

   264

    // check, if the command is already queued

   265

    list_for_each_entry(queued_command, &master->command_queue, queue) {

   266

        if (queued_command == command) {

   267

            command->state = EC_CMD_QUEUED;

   268

            if (unlikely(master->debug_level))

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                EC_WARN("command already queued.\n");

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            return;

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        }

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    }

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    list_add_tail(&command->queue, &master->command_queue);

   275

    command->state = EC_CMD_QUEUED;

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}

   277

   278

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

   279

   280

/**

   281

   Sends the commands in the queue.

   282

   \return 0 in case of success, else < 0

   283

*/

   284

   285

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

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{

   287

    ec_command_t *command;

   288

    size_t command_size;

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    uint8_t *frame_data, *cur_data;

   290

    void *follows_word;

   291

    cycles_t t_start, t_end;

   292

    unsigned int frame_count, more_commands_waiting;

   293

   294

    frame_count = 0;

   295

    t_start = get_cycles();

   296

   297

    if (unlikely(master->debug_level > 0))

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        EC_DBG("ec_master_send_commands\n");

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   300

    do {

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        // fetch pointer to transmit socket buffer

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        frame_data = ec_device_tx_data(master->device);

   303

        cur_data = frame_data + EC_FRAME_HEADER_SIZE;

   304

        follows_word = NULL;

   305

        more_commands_waiting = 0;

   306

   307

        // fill current frame with commands

   308

        list_for_each_entry(command, &master->command_queue, queue) {

   309

            if (command->state != EC_CMD_QUEUED) continue;

   310

   311

            // does the current command fit in the frame?

   312

            command_size = EC_COMMAND_HEADER_SIZE + command->data_size

   313

                + EC_COMMAND_FOOTER_SIZE;

   314

            if (cur_data - frame_data + command_size > ETH_DATA_LEN) {

   315

                more_commands_waiting = 1;

   316

                break;

   317

            }

   318

   319

            command->state = EC_CMD_SENT;

   320

            command->t_sent = t_start;

   321

            command->index = master->command_index++;

   322

   323

            if (unlikely(master->debug_level > 0))

   324

                EC_DBG("adding command 0x%02X\n", command->index);

   325

   326

            // set "command following" flag in previous frame

   327

            if (follows_word)

   328

                EC_WRITE_U16(follows_word, EC_READ_U16(follows_word) | 0x8000);

   329

   330

            // EtherCAT command header

   331

            EC_WRITE_U8 (cur_data,     command->type);

   332

            EC_WRITE_U8 (cur_data + 1, command->index);

   333

            EC_WRITE_U32(cur_data + 2, command->address.logical);

   334

            EC_WRITE_U16(cur_data + 6, command->data_size & 0x7FF);

   335

            EC_WRITE_U16(cur_data + 8, 0x0000);

   336

            follows_word = cur_data + 6;

   337

            cur_data += EC_COMMAND_HEADER_SIZE;

   338

   339

            // EtherCAT command data

   340

            memcpy(cur_data, command->data, command->data_size);

   341

            cur_data += command->data_size;

   342

   343

            // EtherCAT command footer

   344

            EC_WRITE_U16(cur_data, 0x0000); // reset working counter

   345

            cur_data += EC_COMMAND_FOOTER_SIZE;

   346

        }

   347

   348

        if (cur_data - frame_data == EC_FRAME_HEADER_SIZE) {

   349

            if (unlikely(master->debug_level > 0))

   350

                EC_DBG("nothing to send.\n");

   351

            break;

   352

        }

   353

   354

        // EtherCAT frame header

   355

        EC_WRITE_U16(frame_data, ((cur_data - frame_data

   356

                                   - EC_FRAME_HEADER_SIZE) & 0x7FF) | 0x1000);

   357

   358

        // pad frame

   359

        while (cur_data - frame_data < ETH_ZLEN - ETH_HLEN)

   360

            EC_WRITE_U8(cur_data++, 0x00);

   361

   362

        if (unlikely(master->debug_level > 0))

   363

            EC_DBG("frame size: %i\n", cur_data - frame_data);

   364

   365

        // send frame

   366

        ec_device_send(master->device, cur_data - frame_data);

   367

        frame_count++;

   368

    }

   369

    while (more_commands_waiting);

   370

   371

    if (unlikely(master->debug_level > 0)) {

   372

        t_end = get_cycles();

   373

        EC_DBG("ec_master_send_commands sent %i frames in %ius.\n",

   374

               frame_count, (u32) (t_end - t_start) * 1000 / cpu_khz);

   375

    }

   376

}

   377

   378

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

   379

   380

/**

   381

   Processes a received frame.

   382

   This function is called by the network driver for every received frame.

   383

   \return 0 in case of success, else < 0

   384

*/

   385

   386

void ec_master_receive(ec_master_t *master, /**< EtherCAT master */

   387

                       const uint8_t *frame_data, /**< received data */

   388

                       size_t size /**< size of the received data */

   389

                       )

   390

{

   391

    size_t frame_size, data_size;

   392

    uint8_t command_type, command_index;

   393

    unsigned int cmd_follows, matched;

   394

    const uint8_t *cur_data;

   395

    ec_command_t *command;

   396

   397

    if (unlikely(size < EC_FRAME_HEADER_SIZE)) {

   398

        master->stats.corrupted++;

   399

        ec_master_output_stats(master);

   400

        return;

   401

    }

   402

   403

    cur_data = frame_data;

   404

   405

    // check length of entire frame

   406

    frame_size = EC_READ_U16(cur_data) & 0x07FF;

   407

    cur_data += EC_FRAME_HEADER_SIZE;

   408

   409

    if (unlikely(frame_size > size)) {

   410

        master->stats.corrupted++;

   411

        ec_master_output_stats(master);

   412

        return;

   413

    }

   414

   415

    cmd_follows = 1;

   416

    while (cmd_follows) {

   417

        // process command header

   418

        command_type  = EC_READ_U8 (cur_data);

   419

        command_index = EC_READ_U8 (cur_data + 1);

   420

        data_size     = EC_READ_U16(cur_data + 6) & 0x07FF;

   421

        cmd_follows   = EC_READ_U16(cur_data + 6) & 0x8000;

   422

        cur_data += EC_COMMAND_HEADER_SIZE;

   423

   424

        if (unlikely(cur_data - frame_data

   425

                     + data_size + EC_COMMAND_FOOTER_SIZE > size)) {

   426

            master->stats.corrupted++;

   427

            ec_master_output_stats(master);

   428

            return;

   429

        }

   430

   431

        // search for matching command in the queue

   432

        matched = 0;

   433

        list_for_each_entry(command, &master->command_queue, queue) {

   434

            if (command->state == EC_CMD_SENT

   435

                && command->type == command_type

   436

                && command->index == command_index

   437

                && command->data_size == data_size) {

   438

                matched = 1;

   439

                break;

   440

            }

   441

        }

   442

   443

        // no matching command was found

   444

        if (!matched) {

   445

            master->stats.unmatched++;

   446

            ec_master_output_stats(master);

   447

            cur_data += data_size + EC_COMMAND_FOOTER_SIZE;

   448

            continue;

   449

        }

   450

   451

        // copy received data in the command memory

   452

        memcpy(command->data, cur_data, data_size);

   453

        cur_data += data_size;

   454

   455

        // set the command's working counter

   456

        command->working_counter = EC_READ_U16(cur_data);

   457

        cur_data += EC_COMMAND_FOOTER_SIZE;

   458

   459

        // dequeue the received command

   460

        command->state = EC_CMD_RECEIVED;

   461

        list_del_init(&command->queue);

   462

    }

   463

}

   464

   465

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

   466

   467

/**

   468

   Sends a single command and waits for its reception.

   469

   If the slave doesn't respond, the command is sent again.

   470

   \return 0 in case of success, else < 0

   471

*/

   472

   473

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

   474

                        ec_command_t *command /**< command */

   475

                        )

   476

{

   477

    unsigned int response_tries_left;

   478

   479

    response_tries_left = 10;

   480

   481

    while (1)

   482

    {

   483

        ec_master_queue_command(master, command);

   484

        ecrt_master_sync_io(master);

   485

   486

        if (command->state == EC_CMD_RECEIVED) {