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.

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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 "types.h"

    52

#include "device.h"

    53

#include "datagram.h"

    54

#include "ethernet.h"

    55

    56

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

    57

    58

void ec_master_idle_run(void *);

    59

void ec_master_eoe_run(unsigned long);

    60

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

    61

ssize_t ec_store_master_attribute(struct kobject *, struct attribute *,

    62

                                  const char *, size_t);

    63

    64

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

    65

    66

/** \cond */

    67

    68

EC_SYSFS_READ_ATTR(slave_count);

    69

EC_SYSFS_READ_ATTR(mode);

    70

EC_SYSFS_READ_WRITE_ATTR(eeprom_write_enable);

    71

EC_SYSFS_READ_WRITE_ATTR(debug_level);

    72

    73

static struct attribute *ec_def_attrs[] = {

    74

    &attr_slave_count,

    75

    &attr_mode,

    76

    &attr_eeprom_write_enable,

    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

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

   103

                   unsigned int eoe_devices /**< number of EoE devices */

   104

                   )

   105

{

   106

    ec_eoe_t *eoe, *next_eoe;

   107

    unsigned int i;

   108

   109

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

   110

   111

    master->index = index;

   112

    master->device = NULL;

   113

    master->reserved = 0;

   114

    INIT_LIST_HEAD(&master->slaves);

   115

    INIT_LIST_HEAD(&master->datagram_queue);

   116

    INIT_LIST_HEAD(&master->domains);

   117

    INIT_LIST_HEAD(&master->eoe_handlers);

   118

    ec_datagram_init(&master->simple_datagram);

   119

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

   120

    init_timer(&master->eoe_timer);

   121

    master->eoe_timer.function = ec_master_eoe_run;

   122

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

   123

    master->internal_lock = SPIN_LOCK_UNLOCKED;

   124

    master->eoe_running = 0;

   125

   126

    // create workqueue

   127

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

   128

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

   129

        goto out_return;

   130

    }

   131

   132

    // create EoE handlers

   133

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

   134

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

   135

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

   136

            goto out_clear_eoe;

   137

        }

   138

        if (ec_eoe_init(eoe)) {

   139

            kfree(eoe);

   140

            goto out_clear_eoe;

   141

        }

   142

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

   143

    }

   144

   145

    // create state machine object

   146

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

   147

   148

    // init kobject and add it to the hierarchy

   149

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

   150

    kobject_init(&master->kobj);

   151

    master->kobj.ktype = &ktype_ec_master;

   152

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

   153

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

   154

        kobject_put(&master->kobj);

   155

        return -1;

   156

    }

   157

   158

    ec_master_reset(master);

   159

    return 0;

   160

   161

 out_clear_eoe:

   162

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

   163

        list_del(&eoe->list);

   164

        ec_eoe_clear(eoe);

   165

        kfree(eoe);

   166

    }

   167

    destroy_workqueue(master->workqueue);

   168

 out_return:

   169

    return -1;

   170

}

   171

   172

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

   173

   174

/**

   175

   Master destructor.

   176

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

   177

   and frees the device.

   178

*/

   179

   180

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

   181

{

   182

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

   183

    ec_eoe_t *eoe, *next_eoe;

   184

   185

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

   186

   187

    ec_master_reset(master);

   188

    ec_fsm_clear(&master->fsm);

   189

    ec_datagram_clear(&master->simple_datagram);

   190

    destroy_workqueue(master->workqueue);

   191

   192

    // clear EoE objects

   193

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

   194

        list_del(&eoe->list);

   195

        ec_eoe_clear(eoe);

   196

        kfree(eoe);

   197

    }

   198

   199

    if (master->device) {

   200

        ec_device_clear(master->device);

   201

        kfree(master->device);

   202

    }

   203

   204

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

   205

}

   206

   207

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

   208

   209

/**

   210

   Resets the master.

   211

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

   212

   called, to free the slave list, domains etc.

   213

*/

   214

   215

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

   216

{

   217

    ec_datagram_t *datagram, *next_c;

   218

    ec_domain_t *domain, *next_d;

   219

   220

    ec_master_eoe_stop(master);

   221

    ec_master_idle_stop(master);

   222

    ec_master_clear_slaves(master);

   223

   224

    // empty datagram queue

   225

    list_for_each_entry_safe(datagram, next_c,

   226

                             &master->datagram_queue, queue) {

   227

        list_del_init(&datagram->queue);

   228

        datagram->state = EC_CMD_ERROR;

   229

    }

   230

   231

    // clear domains

   232

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

   233

        list_del(&domain->list);

   234

        kobject_del(&domain->kobj);

   235

        kobject_put(&domain->kobj);

   236

    }

   237

   238

    master->datagram_index = 0;

   239

    master->debug_level = 0;

   240

    master->timeout = 500; // 500us

   241

   242

    master->stats.timeouts = 0;

   243

    master->stats.delayed = 0;

   244

    master->stats.corrupted = 0;

   245

    master->stats.unmatched = 0;

   246

    master->stats.t_last = 0;

   247

   248

    master->mode = EC_MASTER_MODE_ORPHANED;

   249

   250

    master->request_cb = NULL;

   251

    master->release_cb = NULL;

   252

    master->cb_data = NULL;

   253

   254

    master->eeprom_write_enable = 0;

   255

   256

    ec_fsm_reset(&master->fsm);

   257

}

   258

   259

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

   260

   261

/**

   262

   Clears all slaves.

   263

*/

   264

   265

void ec_master_clear_slaves(ec_master_t *master)

   266

{

   267

    ec_slave_t *slave, *next_slave;

   268

   269

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

   270

        list_del(&slave->list);

   271

        kobject_del(&slave->kobj);

   272

        kobject_put(&slave->kobj);

   273

    }

   274

    master->slave_count = 0;

   275

}

   276

   277

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

   278

   279

/**

   280

   Places a datagram in the datagram queue.

   281

*/

   282

   283

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

   284

                              ec_datagram_t *datagram /**< datagram */

   285

                              )

   286

{

   287

    ec_datagram_t *queued_datagram;

   288

   289

    // check, if the datagram is already queued

   290

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

   291

        if (queued_datagram == datagram) {

   292

            datagram->state = EC_CMD_QUEUED;

   293

            if (unlikely(master->debug_level))

   294

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

   295

            return;

   296

        }

   297

    }

   298

   299

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

   300

    datagram->state = EC_CMD_QUEUED;

   301

}

   302

   303

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

   304

   305

/**

   306

   Sends the datagrams in the queue.

   307

   \return 0 in case of success, else < 0

   308

*/

   309

   310

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

   311

{

   312

    ec_datagram_t *datagram;

   313

    size_t datagram_size;

   314

    uint8_t *frame_data, *cur_data;

   315

    void *follows_word;

   316

    cycles_t t_start, t_end;

   317

    unsigned int frame_count, more_datagrams_waiting;

   318

   319

    frame_count = 0;

   320

    t_start = get_cycles();

   321

   322

    if (unlikely(master->debug_level > 1))

   323

        EC_DBG("ec_master_send_datagrams\n");

   324

   325

    do {

   326

        // fetch pointer to transmit socket buffer

   327

        frame_data = ec_device_tx_data(master->device);

   328

        cur_data = frame_data + EC_FRAME_HEADER_SIZE;

   329

        follows_word = NULL;

   330

        more_datagrams_waiting = 0;

   331

   332

        // fill current frame with datagrams

   333

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

   334

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

   335

   336

            // does the current datagram fit in the frame?

   337

            datagram_size = EC_DATAGRAM_HEADER_SIZE + datagram->data_size

   338

                + EC_DATAGRAM_FOOTER_SIZE;

   339

            if (cur_data - frame_data + datagram_size > ETH_DATA_LEN) {

   340

                more_datagrams_waiting = 1;

   341

                break;

   342

            }

   343

   344

            datagram->state = EC_CMD_SENT;

   345

            datagram->t_sent = t_start;

   346

            datagram->index = master->datagram_index++;

   347

   348

            if (unlikely(master->debug_level > 1))

   349

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

   350

   351

            // set "datagram following" flag in previous frame

   352

            if (follows_word)

   353

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

   354

   355

            // EtherCAT datagram header

   356

            EC_WRITE_U8 (cur_data,     datagram->type);

   357

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

   358

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

   359

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

   360

            EC_WRITE_U16(cur_data + 8, 0x0000);

   361

            follows_word = cur_data + 6;

   362

            cur_data += EC_DATAGRAM_HEADER_SIZE;

   363

   364

            // EtherCAT datagram data

   365

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

   366

            cur_data += datagram->data_size;

   367

   368

            // EtherCAT datagram footer

   369

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

   370

            cur_data += EC_DATAGRAM_FOOTER_SIZE;

   371

        }

   372

   373

        if (cur_data - frame_data == EC_FRAME_HEADER_SIZE) {

   374

            if (unlikely(master->debug_level > 1))

   375

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

   376

            break;

   377

        }

   378

   379

        // EtherCAT frame header

   380

        EC_WRITE_U16(frame_data, ((cur_data - frame_data

   381

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

   382

   383

        // pad frame

   384

        while (cur_data - frame_data < ETH_ZLEN - ETH_HLEN)

   385

            EC_WRITE_U8(cur_data++, 0x00);

   386

   387

        if (unlikely(master->debug_level > 1))

   388

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

   389

   390

        // send frame

   391

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

   392

        frame_count++;

   393

    }

   394

    while (more_datagrams_waiting);

   395

   396

    if (unlikely(master->debug_level > 1)) {

   397

        t_end = get_cycles();

   398

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

   399

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

   400

    }

   401

}

   402

   403

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

   404

   405

/**

   406

   Processes a received frame.

   407

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

   408

   \return 0 in case of success, else < 0

   409

*/

   410

   411

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

   412

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

   413

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

   414

                       )

   415

{

   416

    size_t frame_size, data_size;

   417

    uint8_t datagram_type, datagram_index;

   418

    unsigned int cmd_follows, matched;

   419

    const uint8_t *cur_data;

   420

    ec_datagram_t *datagram;

   421

   422

    if (unlikely(size < EC_FRAME_HEADER_SIZE)) {

   423

        master->stats.corrupted++;

   424

        ec_master_output_stats(master);

   425

        return;

   426

    }

   427

   428

    cur_data = frame_data;

   429

   430

    // check length of entire frame

   431

    frame_size = EC_READ_U16(cur_data) & 0x07FF;

   432

    cur_data += EC_FRAME_HEADER_SIZE;

   433

   434

    if (unlikely(frame_size > size)) {

   435

        master->stats.corrupted++;

   436

        ec_master_output_stats(master);

   437

        return;

   438

    }

   439

   440

    cmd_follows = 1;

   441

    while (cmd_follows) {

   442

        // process datagram header

   443

        datagram_type  = EC_READ_U8 (cur_data);

   444

        datagram_index = EC_READ_U8 (cur_data + 1);

   445

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

   446

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

   447

        cur_data += EC_DATAGRAM_HEADER_SIZE;

   448

   449

        if (unlikely(cur_data - frame_data

   450

                     + data_size + EC_DATAGRAM_FOOTER_SIZE > size)) {

   451

            master->stats.corrupted++;

   452

            ec_master_output_stats(master);

   453

            return;

   454

        }

   455

   456

        // search for matching datagram in the queue

   457

        matched = 0;

   458

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

   459

            if (datagram->state == EC_CMD_SENT

   460

                && datagram->type == datagram_type

   461

                && datagram->index == datagram_index

   462

                && datagram->data_size == data_size) {

   463

                matched = 1;

   464

                break;

   465

            }

   466

        }

   467

   468

        // no matching datagram was found

   469

        if (!matched) {

   470

            master->stats.unmatched++;

   471

            ec_master_output_stats(master);

   472

            cur_data += data_size + EC_DATAGRAM_FOOTER_SIZE;

   473

            continue;

   474

        }

   475

   476

        // copy received data in the datagram memory

   477

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

   478

        cur_data += data_size;

   479

   480

        // set the datagram's working counter

   481

        datagram->working_counter = EC_READ_U16(cur_data);

   482

        cur_data += EC_DATAGRAM_FOOTER_SIZE;

   483

   484

        // dequeue the received datagram

   485

        datagram->state = EC_CMD_RECEIVED;

   486