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 "../include/ecrt.h"

    50

#include "globals.h"

    51

#include "slave.h"

    52

#include "slave_config.h"

    53

#include "device.h"

    54

#include "datagram.h"

    55

#ifdef EC_EOE

    56

#include "ethernet.h"

    57

#endif

    58

#include "master.h"

    59

    60

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

    61

    62

void ec_master_clear_slave_configs(ec_master_t *);

    63

void ec_master_clear_domains(ec_master_t *);

    64

static int ec_master_idle_thread(ec_master_t *);

    65

static int ec_master_operation_thread(ec_master_t *);

    66

#ifdef EC_EOE

    67

void ec_master_eoe_run(unsigned long);

    68

#endif

    69

    70

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

    71

    72

/**

    73

   Master constructor.

    74

   \return 0 in case of success, else < 0

    75

*/

    76

    77

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

    78

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

    79

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

    80

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

    81

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

    82

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

    83

        )

    84

{

    85

    unsigned int i;

    86

    87

    master->index = index;

    88

    master->reserved = 0;

    89

    90

    master->main_mac = main_mac;

    91

    master->backup_mac = backup_mac;

    92

    init_MUTEX(&master->device_sem);

    93

    94

    master->mode = EC_MASTER_MODE_ORPHANED;

    95

    master->injection_seq_fsm = 0;

    96

    master->injection_seq_rt = 0;

    97

    98

    master->slaves = NULL;

    99

    master->slave_count = 0;

   100

   101

    INIT_LIST_HEAD(&master->configs);

   102

   103

    master->scan_busy = 0;

   104

    master->allow_scan = 1;

   105

    init_MUTEX(&master->scan_sem);

   106

    init_waitqueue_head(&master->scan_queue);

   107

   108

    master->config_busy = 0;

   109

    master->allow_config = 1;

   110

    init_MUTEX(&master->config_sem);

   111

    init_waitqueue_head(&master->config_queue);

   112

   113

    INIT_LIST_HEAD(&master->datagram_queue);

   114

    master->datagram_index = 0;

   115

   116

    INIT_LIST_HEAD(&master->domains);

   117

   118

    master->debug_level = 0;

   119

    master->stats.timeouts = 0;

   120

    master->stats.corrupted = 0;

   121

    master->stats.unmatched = 0;

   122

    master->stats.output_jiffies = 0;

   123

    master->frames_timed_out = 0;

   124

   125

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

   126

        master->idle_cycle_times[i] = 0;

   127

#ifdef EC_EOE

   128

        master->eoe_cycle_times[i] = 0;

   129

#endif

   130

    }

   131

    master->idle_cycle_time_pos = 0;

   132

#ifdef EC_EOE

   133

    master->eoe_cycle_time_pos = 0;

   134

   135

    init_timer(&master->eoe_timer);

   136

    master->eoe_timer.function = ec_master_eoe_run;

   137

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

   138

    master->eoe_running = 0;

   139

    INIT_LIST_HEAD(&master->eoe_handlers);

   140

#endif

   141

   142

    master->internal_lock = SPIN_LOCK_UNLOCKED;

   143

    master->request_cb = NULL;

   144

    master->release_cb = NULL;

   145

    master->cb_data = NULL;

   146

   147

    INIT_LIST_HEAD(&master->sii_requests);

   148

    init_MUTEX(&master->sii_sem);

   149

    init_waitqueue_head(&master->sii_queue);

   150

   151

    INIT_LIST_HEAD(&master->slave_sdo_requests);

   152

    init_MUTEX(&master->sdo_sem);

   153

    init_waitqueue_head(&master->sdo_queue);

   154

   155

    // init devices

   156

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

   157

        goto out_return;

   158

   159

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

   160

        goto out_clear_main;

   161

   162

    // init state machine datagram

   163

    ec_datagram_init(&master->fsm_datagram);

   164

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

   165

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

   166

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

   167

        goto out_clear_backup;

   168

    }

   169

   170

    // create state machine object

   171

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

   172

   173

    // init character device

   174

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

   175

        goto out_clear_fsm;

   176

   177

#if LINUX_VERSION_CODE < KERNEL_VERSION(2, 6, 15)

   178

    master->class_device = class_device_create(class,

   179

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

   180

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

   181

#else

   182

    master->class_device = class_device_create(class, NULL,

   183

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

   184

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

   185

#endif

   186

    if (IS_ERR(master->class_device)) {

   187

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

   188

        goto out_clear_cdev;

   189

    }

   190

   191

    return 0;

   192

   193

out_clear_cdev:

   194

    ec_cdev_clear(&master->cdev);

   195

out_clear_fsm:

   196

    ec_fsm_master_clear(&master->fsm);

   197

    ec_datagram_clear(&master->fsm_datagram);

   198

out_clear_backup:

   199

    ec_device_clear(&master->backup_device);

   200

out_clear_main:

   201

    ec_device_clear(&master->main_device);

   202

out_return:

   203

    return -1;

   204

}

   205

   206

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

   207

   208

/** Destructor.

   209

*/

   210

void ec_master_clear(

   211

        ec_master_t *master /**< EtherCAT master */

   212

        )

   213

{

   214

    class_device_unregister(master->class_device);

   215

    ec_cdev_clear(&master->cdev);

   216

#ifdef EC_EOE

   217

    ec_master_clear_eoe_handlers(master);

   218

#endif

   219

    ec_master_clear_domains(master);

   220

    ec_master_clear_slave_configs(master);

   221

    ec_master_clear_slaves(master);

   222

    ec_fsm_master_clear(&master->fsm);

   223

    ec_datagram_clear(&master->fsm_datagram);

   224

    ec_device_clear(&master->backup_device);

   225

    ec_device_clear(&master->main_device);

   226

}

   227

   228

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

   229

   230

#ifdef EC_EOE

   231

/** Clear and free all EoE handlers.

   232

 */

   233

void ec_master_clear_eoe_handlers(

   234

        ec_master_t *master /**< EtherCAT master */

   235

        )

   236

{

   237

    ec_eoe_t *eoe, *next;

   238

   239

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

   240

        list_del(&eoe->list);

   241

        ec_eoe_clear(eoe);

   242

        kfree(eoe);

   243

    }

   244

}

   245

#endif

   246

   247

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

   248

   249

/** Clear all slave configurations.

   250

 */

   251

void ec_master_clear_slave_configs(ec_master_t *master)

   252

{

   253

    ec_slave_config_t *sc, *next;

   254

   255

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

   256

        list_del(&sc->list);

   257

        ec_slave_config_clear(sc);

   258

        kfree(sc);

   259

    }

   260

}

   261

   262

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

   263

   264

/** Clear all slaves.

   265

 */

   266

void ec_master_clear_slaves(ec_master_t *master)

   267

{

   268

    ec_slave_t *slave;

   269

   270

    for (slave = master->slaves;

   271

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

   272

            slave++) {

   273

        ec_slave_clear(slave);

   274

    }

   275

   276

    if (master->slaves) {

   277

        kfree(master->slaves);

   278

        master->slaves = NULL;

   279

    }

   280

   281

    master->slave_count = 0;

   282

}

   283

   284

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

   285

   286

/** Clear all domains.

   287

 */

   288

void ec_master_clear_domains(ec_master_t *master)

   289

{

   290

    ec_domain_t *domain, *next;

   291

   292

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

   293

        list_del(&domain->list);

   294

        ec_domain_clear(domain);

   295

        kfree(domain);

   296

    }

   297

}

   298

   299

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

   300

   301

/** Internal locking callback.

   302

 */

   303

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

   304

{

   305

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

   306

    return 0;

   307

}

   308

   309

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

   310

   311

/** Internal unlocking callback.

   312

 */

   313

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

   314

{

   315

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

   316

}

   317

   318

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

   319

   320

/** Starts the master thread.

   321

 */

   322

int ec_master_thread_start(

   323

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

   324

        int (*thread_func)(ec_master_t *) /**< thread function to start */

   325

        )

   326

{

   327

    init_completion(&master->thread_exit);

   328

   329

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

   330

    if (!(master->thread_id = kernel_thread((int (*)(void *)) thread_func,

   331

                    master, CLONE_KERNEL)))

   332

        return -1;

   333

   334

    return 0;

   335

}

   336

   337

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

   338

   339

/** Stops the master thread.

   340

 */

   341

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

   342

{

   343

    if (!master->thread_id) {

   344

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

   345

        return;

   346

    }

   347

   348

    if (master->debug_level)

   349

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

   350

   351

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

   352

    wait_for_completion(&master->thread_exit);

   353

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

   354

   355

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

   356

   357

    // wait for FSM datagram

   358

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

   359

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

   360

        schedule();

   361

}

   362

   363

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

   364

   365

/** Transition function from ORPHANED to IDLE mode.

   366

 */

   367

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

   368

{

   369

    master->request_cb = ec_master_request_cb;

   370

    master->release_cb = ec_master_release_cb;

   371

    master->cb_data = master;

   372

   373

    if (master->debug_level)

   374

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

   375

   376

    master->mode = EC_MASTER_MODE_IDLE;

   377

    if (ec_master_thread_start(master, ec_master_idle_thread)) {

   378

        master->mode = EC_MASTER_MODE_ORPHANED;

   379

        return -1;

   380

    }

   381

   382

    return 0;

   383

}

   384

   385

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

   386

   387

/** Transition function from IDLE to ORPHANED mode.

   388

 */

   389

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

   390

{

   391

    if (master->debug_level)

   392

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

   393

   394

    master->mode = EC_MASTER_MODE_ORPHANED;

   395

   396

#ifdef EC_EOE

   397

    ec_master_eoe_stop(master);

   398

#endif

   399

    ec_master_thread_stop(master);

   400

    ec_master_clear_slaves(master);

   401

}

   402

   403

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

   404

   405

/** Transition function from IDLE to OPERATION mode.

   406

 */

   407

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

   408

{

   409

    ec_slave_t *slave;

   410

#ifdef EC_EOE

   411

    ec_eoe_t *eoe;

   412

#endif

   413

   414

    if (master->debug_level)

   415

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

   416

   417

    down(&master->config_sem);

   418

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

   419

    if (master->config_busy) {

   420

        up(&master->config_sem);

   421

   422

        // wait for slave configuration to complete

   423

        if (wait_event_interruptible(master->config_queue,

   424

                    !master->config_busy)) {

   425

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

   426

            goto out_allow;

   427

        }

   428

   429

        if (master->debug_level)

   430

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

   431

    } else {

   432

        up(&master->config_sem);

   433

    }

   434

   435

    down(&master->scan_sem);

   436

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

   437

    if (!master->scan_busy) {

   438

        up(&master->scan_sem);

   439

    } else {

   440

        up(&master->scan_sem);

   441

   442

        // wait for slave scan to complete

   443

        if (wait_event_interruptible(master->scan_queue, !master->scan_busy)) {

   444

            EC_INFO("Waiting for slave scan interrupted by signal.\n");

   445

            goto out_allow;

   446

        }

   447

   448

        if (master->debug_level)

   449

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

   450

    }

   451

   452

    // set states for all slaves

   453

    for (slave = master->slaves;

   454

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

   455

            slave++) {

   456

        ec_slave_request_state(slave, EC_SLAVE_STATE_PREOP);

   457

    }

   458

#ifdef EC_EOE

   459

    // ... but set EoE slaves to OP

   460

    list_for_each_entry(eoe, &master->eoe_handlers, list) {

   461

        if (ec_eoe_is_open(eoe))

   462

            ec_slave_request_state(eoe->slave, EC_SLAVE_STATE_OP);

   463

    }

   464

#endif

   465

   466

    if (master->debug_level)

   467

        EC_DBG("Switching to operation mode.\n");

   468

   469

    master->mode = EC_MASTER_MODE_OPERATION;

   470

    master->ext_request_cb = NULL;

   471

    master->ext_release_cb = NULL;

   472

    master->ext_cb_data = NULL;

   473

    return 0;

   474

   475

out_allow:

   476

    master->allow_scan = 1;

   477

    master->allow_config = 1;

   478

    return -1;

   479

}

   480

   481

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

   482

   483

/** Transition function from OPERATION to IDLE mode.