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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; either version 2 of the

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 *  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.

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 *

    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

void ec_master_idle_run(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(eeprom_write_enable);

    74

EC_SYSFS_READ_WRITE_ATTR(debug_level);

    75

    76

static struct attribute *ec_def_attrs[] = {

    77

    &attr_info,

    78

    &attr_eeprom_write_enable,

    79

    &attr_debug_level,

    80

    NULL,

    81

};

    82

    83

static struct sysfs_ops ec_sysfs_ops = {

    84

    .show = &ec_show_master_attribute,

    85

    .store = ec_store_master_attribute

    86

};

    87

    88

static struct kobj_type ktype_ec_master = {

    89

    .release = ec_master_clear,

    90

    .sysfs_ops = &ec_sysfs_ops,

    91

    .default_attrs = ec_def_attrs

    92

};

    93

    94

/** \endcond */

    95

    96

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

    97

    98

/**

    99

   Master constructor.

   100

   \return 0 in case of success, else < 0

   101

*/

   102

   103

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

   104

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

   105

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

   106

                   )

   107

{

   108

    ec_eoe_t *eoe, *next_eoe;

   109

    unsigned int i;

   110

   111

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

   112

   113

    atomic_set(&master->available, 1);

   114

    master->index = index;

   115

   116

    master->device = NULL;

   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

    INIT_WORK(&master->idle_work, ec_master_idle_run, (void *) master);

   137

   138

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

   139

        master->idle_cycle_times[i] = 0;

   140

        master->eoe_cycle_times[i] = 0;

   141

    }

   142

    master->idle_cycle_time_pos = 0;

   143

    master->eoe_cycle_time_pos = 0;

   144

   145

    init_timer(&master->eoe_timer);

   146

    master->eoe_timer.function = ec_master_eoe_run;

   147

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

   148

    master->eoe_running = 0;

   149

    master->eoe_checked = 0;

   150

    INIT_LIST_HEAD(&master->eoe_handlers);

   151

   152

    master->internal_lock = SPIN_LOCK_UNLOCKED;

   153

    master->request_cb = NULL;

   154

    master->release_cb = NULL;

   155

    master->cb_data = NULL;

   156

   157

    master->eeprom_write_enable = 0;

   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

    // create workqueue

   169

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

   170

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

   171

        goto out_return;

   172

    }

   173

   174

    // create EoE handlers

   175

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

   176

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

   177

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

   178

            goto out_clear_eoe;

   179

        }

   180

        if (ec_eoe_init(eoe)) {

   181

            kfree(eoe);

   182

            goto out_clear_eoe;

   183

        }

   184

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

   185

    }

   186

   187

    // create state machine object

   188

    if (ec_fsm_init(&master->fsm, master)) goto out_clear_eoe;

   189

   190

    // init kobject and add it to the hierarchy

   191

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

   192

    kobject_init(&master->kobj);

   193

    master->kobj.ktype = &ktype_ec_master;

   194

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

   195

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

   196

        kobject_put(&master->kobj);

   197

        return -1;

   198

    }

   199

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

   200

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

   201

        kobject_put(&master->kobj);

   202

        return -1;

   203

    }

   204

   205

    return 0;

   206

   207

 out_clear_eoe:

   208

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

   209

        list_del(&eoe->list);

   210

        ec_eoe_clear(eoe);

   211

        kfree(eoe);

   212

    }

   213

    destroy_workqueue(master->workqueue);

   214

 out_return:

   215

    return -1;

   216

}

   217

   218

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

   219

   220

/**

   221

   Master destructor.

   222

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

   223

*/

   224

   225

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

   226

{

   227

    ec_master_destroy_slaves(master);

   228

    ec_master_destroy_domains(master);

   229

   230

    // destroy self

   231

    kobject_del(&master->kobj);

   232

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

   233

}

   234

   235

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

   236

   237

/**

   238

   Clear and free master.

   239

   This method is called by the kobject,

   240

   once there are no more references to it.

   241

*/

   242

   243

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

   244

{

   245

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

   246

    ec_eoe_t *eoe, *next_eoe;

   247

    ec_datagram_t *datagram, *next_datagram;

   248

   249

    // dequeue all datagrams

   250

    list_for_each_entry_safe(datagram, next_datagram,

   251

                             &master->datagram_queue, queue) {

   252

        datagram->state = EC_DATAGRAM_ERROR;

   253

        list_del_init(&datagram->queue);

   254

    }

   255

   256

    ec_fsm_clear(&master->fsm);

   257

    destroy_workqueue(master->workqueue);

   258

   259

    // clear EoE objects

   260

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

   261

        list_del(&eoe->list);

   262

        ec_eoe_clear(eoe);

   263

        kfree(eoe);

   264

    }

   265

   266

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

   267

   268

    kfree(master);

   269

}

   270

   271

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

   272

   273

/**

   274

   Destroy all slaves.

   275

*/

   276

   277

void ec_master_destroy_slaves(ec_master_t *master)

   278

{

   279

    ec_slave_t *slave, *next_slave;

   280

   281

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

   282

        list_del(&slave->list);

   283

        ec_slave_destroy(slave);

   284

    }

   285

   286

    master->slave_count = 0;

   287

}

   288

   289

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

   290

   291

/**

   292

   Destroy all domains.

   293

*/

   294

   295

void ec_master_destroy_domains(ec_master_t *master)

   296

{

   297

    ec_domain_t *domain, *next_d;

   298

   299

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

   300

        list_del(&domain->list);

   301

        ec_domain_destroy(domain);

   302

    }

   303

}

   304

   305

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

   306

   307

/**

   308

   Flushes the SDO request queue.

   309

*/

   310

   311

void ec_master_flush_sdo_requests(ec_master_t *master)

   312

{

   313

    del_timer_sync(&master->sdo_timer);

   314

    complete(&master->sdo_complete);

   315

    master->sdo_request = NULL;

   316

    master->sdo_seq_user = 0;

   317

    master->sdo_seq_master = 0;

   318

}

   319

   320

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

   321

   322

/**

   323

*/

   324

   325

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

   326

{

   327

    master->mode = EC_MASTER_MODE_IDLE;

   328

    queue_delayed_work(master->workqueue, &master->idle_work, 1);

   329

    return 0;

   330

}

   331

   332

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

   333

   334

/**

   335

*/

   336

   337

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

   338

{

   339

    ec_master_eoe_stop(master);

   340

   341

    master->mode = EC_MASTER_MODE_ORPHANED;

   342

    while (!cancel_delayed_work(&master->idle_work)) {

   343

        flush_workqueue(master->workqueue);

   344

    }

   345

   346

    ec_master_flush_sdo_requests(master);

   347

}

   348

   349

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

   350

   351

/**

   352

*/

   353

   354

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

   355

{

   356

    ec_slave_t *slave;

   357

    ec_datagram_t *datagram = &master->fsm.datagram;

   358

   359

    master->mode = EC_MASTER_MODE_OPERATION;

   360

    while (!cancel_delayed_work(&master->idle_work)) {

   361

        flush_workqueue(master->workqueue);

   362

    }

   363

   364

    // wait for FSM datagram

   365

    if (datagram->state == EC_DATAGRAM_SENT) {;

   366

        while (get_cycles() - datagram->cycles_sent

   367

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

   368

        ecrt_master_receive(master);

   369

    }

   370

   371

    // finish running master FSM

   372

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

   373

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

   374

            ec_master_sync_io(master);

   375

        }

   376

    }

   377

   378

    if (master->debug_level) {

   379

        if (ec_master_measure_bus_time(master)) {

   380

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

   381

            goto out_idle;

   382

        }

   383

    }

   384

   385

    // set initial slave states

   386

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

   387

        if (ec_slave_is_coupler(slave)) {

   388

            ec_slave_request_state(slave, EC_SLAVE_STATE_OP);

   389

        }

   390

        else {

   391

            ec_slave_request_state(slave, EC_SLAVE_STATE_PREOP);

   392

        }

   393

    }

   394

   395

    return 0;

   396

   397

 out_idle:

   398

    master->mode = EC_MASTER_MODE_IDLE;

   399

    queue_delayed_work(master->workqueue, &master->idle_work, 1);

   400

    return -1;

   401

}

   402

   403

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

   404

   405

/**

   406

*/

   407

   408

void ec_master_leave_operation_mode(ec_master_t *master

   409

                                    /**< EtherCAT master */)

   410

{

   411

    ec_slave_t *slave;

   412

    ec_fsm_t *fsm = &master->fsm;

   413

    ec_datagram_t *datagram = &master->fsm.datagram;

   414

   415

    // wait for FSM datagram

   416

    if (datagram->state == EC_DATAGRAM_SENT) {

   417

        while (get_cycles() - datagram->cycles_sent

   418

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

   419

        ecrt_master_receive(master);

   420

    }

   421

   422

    // finish running master FSM

   423

    if (ec_fsm_running(fsm)) {

   424

        while (ec_fsm_exec(fsm)) {

   425

            ec_master_sync_io(master);

   426

        }

   427

    }

   428

   429

    // set states for all slaves

   430

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

   431

        ec_slave_reset(slave);

   432

        ec_slave_request_state(slave, EC_SLAVE_STATE_PREOP);

   433

   434

        fsm->slave = slave;

   435

        fsm->slave_state = ec_fsm_slaveconf_state_start;

   436

   437

        do {

   438

            fsm->slave_state(fsm);

   439

            ec_master_sync_io(master);

   440

        }

   441

        while (fsm->slave_state != ec_fsm_slave_state_end

   442

               && fsm->slave_state != ec_fsm_slave_state_error);

   443

    }

   444

   445

    ec_master_destroy_domains(master);

   446

   447

    master->request_cb = NULL;

   448

    master->release_cb = NULL;

   449

    master->cb_data = NULL;

   450

   451

    master->mode = EC_MASTER_MODE_IDLE;

   452

    queue_delayed_work(master->workqueue, &master->idle_work, 1);

   453

}

   454

   455

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

   456

   457

/**

   458

   Places a datagram in the datagram queue.

   459

*/

   460

   461

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

   462

                              ec_datagram_t *datagram /**< datagram */

   463

                              )

   464

{

   465

    ec_datagram_t *queued_datagram;

   466

   467

    // check, if the datagram is already queued

   468

    list_for_each_entry(queued_datagram, &master->datagram_queue, queue) {

   469

        if (queued_datagram == datagram) {

   470

            master->stats.skipped++;

   471

            ec_master_output_stats(master);

   472

            datagram->state = EC_DATAGRAM_QUEUED;

   473

            return;

   474

        }

   475

    }

   476

   477

    list_add_tail(&datagram->queue, &master->datagram_queue);

   478

    datagram->state = EC_DATAGRAM_QUEUED;

   479

    datagram->cycles_queued = get_cycles();

   480

}

   481

   482

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

   483

   484

/**

   485

   Sends the datagrams in the queue.

   486

   \return 0 in case of success, else < 0

   487

*/

   488

   489

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

   490

{