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

     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

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 *  Public License for more details.

    17

 *

    18

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

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 *  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

 *  Using the EtherCAT technology and brand is permitted in compliance with

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 *  the industrial property and similar rights of Beckhoff Automation GmbH.

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 *

    25

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

    26

    27

/**

    28

   \file

    29

   EtherCAT master methods.

    30

*/

    31

    32

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

    33

    34

#include <linux/module.h>

    35

#include <linux/kernel.h>

    36

#include <linux/string.h>

    37

#include <linux/slab.h>

    38

#include <linux/delay.h>

    39

#include <linux/device.h>

    40

#include <linux/version.h>

    41

    42

#include "globals.h"

    43

#include "slave.h"

    44

#include "slave_config.h"

    45

#include "device.h"

    46

#include "datagram.h"

    47

#ifdef EC_EOE

    48

#include "ethernet.h"

    49

#endif

    50

#include "master.h"

    51

    52

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

    53

    54

#ifdef EC_HAVE_CYCLES

    55

    56

/** Frame timeout in cycles.

    57

 */

    58

static cycles_t timeout_cycles;

    59

    60

#else

    61

    62

/** Frame timeout in jiffies.

    63

 */

    64

static unsigned long timeout_jiffies;

    65

    66

#endif

    67

    68

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

    69

    70

void ec_master_clear_slave_configs(ec_master_t *);

    71

void ec_master_clear_domains(ec_master_t *);

    72

static int ec_master_idle_thread(void *);

    73

static int ec_master_operation_thread(void *);

    74

#ifdef EC_EOE

    75

void ec_master_eoe_run(unsigned long);

    76

#endif

    77

    78

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

    79

    80

/** Static variables initializer.

    81

*/

    82

void ec_master_init_static(void)

    83

{

    84

#ifdef EC_HAVE_CYCLES

    85

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

    86

#else

    87

    // one jiffy may always elapse between time measurement

    88

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

    89

#endif

    90

}

    91

    92

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

    93

    94

/**

    95

   Master constructor.

    96

   \return 0 in case of success, else < 0

    97

*/

    98

    99

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

   100

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

   101

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

   102

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

   103

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

   104

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

   105

        )

   106

{

   107

    int ret;

   108

   109

    master->index = index;

   110

    master->reserved = 0;

   111

   112

    init_MUTEX(&master->master_sem);

   113

   114

    master->main_mac = main_mac;

   115

    master->backup_mac = backup_mac;

   116

    init_MUTEX(&master->device_sem);

   117

   118

    master->phase = EC_ORPHANED;

   119

    master->injection_seq_fsm = 0;

   120

    master->injection_seq_rt = 0;

   121

   122

    master->slaves = NULL;

   123

    master->slave_count = 0;

   124

   125

    INIT_LIST_HEAD(&master->configs);

   126

   127

    master->scan_busy = 0;

   128

    master->allow_scan = 1;

   129

    init_MUTEX(&master->scan_sem);

   130

    init_waitqueue_head(&master->scan_queue);

   131

   132

    master->config_busy = 0;

   133

    master->allow_config = 1;

   134

    init_MUTEX(&master->config_sem);

   135

    init_waitqueue_head(&master->config_queue);

   136

   137

    INIT_LIST_HEAD(&master->datagram_queue);

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    master->datagram_index = 0;

   139

   140

    INIT_LIST_HEAD(&master->domains);

   141

   142

    master->debug_level = 0;

   143

    master->stats.timeouts = 0;

   144

    master->stats.corrupted = 0;

   145

    master->stats.unmatched = 0;

   146

    master->stats.output_jiffies = 0;

   147

    master->frames_timed_out = 0;

   148

   149

    master->thread = NULL;

   150

   151

#ifdef EC_EOE

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    init_timer(&master->eoe_timer);

   153

    master->eoe_timer.function = ec_master_eoe_run;

   154

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

   155

    master->eoe_running = 0;

   156

    INIT_LIST_HEAD(&master->eoe_handlers);

   157

#endif

   158

   159

    master->internal_lock = SPIN_LOCK_UNLOCKED;

   160

    master->request_cb = NULL;

   161

    master->release_cb = NULL;

   162

    master->cb_data = NULL;

   163

   164

    INIT_LIST_HEAD(&master->sii_requests);

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    init_waitqueue_head(&master->sii_queue);

   166

   167

    INIT_LIST_HEAD(&master->slave_sdo_requests);

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    init_waitqueue_head(&master->sdo_queue);

   169

   170

    INIT_LIST_HEAD(&master->phy_requests);

   171

    init_waitqueue_head(&master->phy_queue);

   172

   173

    // init devices

   174

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

   175

    if (ret < 0)

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        goto out_return;

   177

   178

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

   179

    if (ret < 0)

   180

        goto out_clear_main;

   181

   182

    // init state machine datagram

   183

    ec_datagram_init(&master->fsm_datagram);

   184

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

   185

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

   186

    if (ret < 0) {

   187

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

   188

        goto out_clear_backup;

   189

    }

   190

   191

    // create state machine object

   192

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

   193

   194

    // init character device

   195

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

   196

    if (ret)

   197

        goto out_clear_fsm;

   198

   199

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

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    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);

   203

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

   204

    master->class_device = class_device_create(class, NULL,

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

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

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#else

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    master->class_device = class_device_create(class,

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

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

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#endif

   212

    if (IS_ERR(master->class_device)) {

   213

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

   214

        ret = PTR_ERR(master->class_device);

   215

        goto out_clear_cdev;

   216

    }

   217

   218

    return 0;

   219

   220

out_clear_cdev:

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    ec_cdev_clear(&master->cdev);

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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 ret;

   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

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/** 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

 * \retval  0 Success.

   354

 * \retval <0 Error code.

   355

 */

   356

int ec_master_thread_start(

   357

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

   358

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

   359

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

   360

        )

   361

{

   362

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

   363

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

   364

    if (IS_ERR(master->thread)) {

   365

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

   366

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

   367

        master->thread = NULL;

   368

        return err;

   369

    }

   370

   371

    return 0;

   372

}

   373

   374

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

   375

   376

/** Stops the master thread.

   377

 */

   378

void ec_master_thread_stop(

   379

        ec_master_t *master /**< EtherCAT master */

   380

        )

   381

{

   382

    unsigned long sleep_jiffies;

   383

   384

    if (!master->thread) {

   385

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

   386

        return;

   387

    }

   388

   389

    if (master->debug_level)

   390

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

   391

   392

    kthread_stop(master->thread);

   393

    master->thread = NULL;

   394

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

   395

   396

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

   397

        return;

   398

   399

    // wait for FSM datagram

   400

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

   401

    schedule_timeout(sleep_jiffies);

   402

}

   403

   404

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

   405

   406

/** Transition function from ORPHANED to IDLE phase.

   407

 */

   408

int ec_master_enter_idle_phase(

   409

        ec_master_t *master /**< EtherCAT master */

   410

        )

   411

{

   412

    int ret;

   413

   414

    if (master->debug_level)

   415

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

   416

   417

    master->request_cb = ec_master_request_cb;

   418

    master->release_cb = ec_master_release_cb;

   419

    master->cb_data = master;

   420

   421

    master->phase = EC_IDLE;

   422

    ret = ec_master_thread_start(master, ec_master_idle_thread,

   423

            "EtherCAT-IDLE");

   424

    if (ret)

   425

        master->phase = EC_ORPHANED;

   426

   427

    return ret;

   428

}

   429

   430

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

   431

   432

/** Transition function from IDLE to ORPHANED phase.

   433

 */

   434

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

   435

{

   436

    if (master->debug_level)

   437

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

   438

   439

    master->phase = EC_ORPHANED;

   440

   441

#ifdef EC_EOE

   442

    ec_master_eoe_stop(master);

   443

#endif

   444

    ec_master_thread_stop(master);

   445

   446

    down(&master->master_sem);

   447

    ec_master_clear_slaves(master);

   448

    up(&master->master_sem);

   449

}

   450

   451

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

   452

   453

/** Transition function from IDLE to OPERATION phase.

   454

 */

   455

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

   456

{

   457

    int ret = 0;

   458

    ec_slave_t *slave;

   459

#ifdef EC_EOE

   460

    ec_eoe_t *eoe;

   461

#endif

   462

   463

    if (master->debug_level)

   464

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

   465

   466

    down(&master->config_sem);

   467

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

   468

    if (master->config_busy) {

   469

        up(&master->config_sem);

   470

   471

        // wait for slave configuration to complete

   472

        ret = wait_event_interruptible(master->config_queue,

   473

                    !master->config_busy);

   474

        if (ret) {

   475

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

   476

            goto out_allow;

   477

        }

   478

   479

        if (master->debug_level)

   480

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

   481

    } else {

   482

        up(&master->config_sem);

   483