1

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

     2

 *

     3

 *  m a s t e r . c

     4

 *

     5

 *  Methoden für einen EtherCAT-Master.

     6

 *

     7

 *  $Id$

     8

 *

     9

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

    10

    11

#include <linux/module.h>

    12

#include <linux/kernel.h>

    13

#include <linux/string.h>

    14

#include <linux/slab.h>

    15

#include <linux/delay.h>

    16

    17

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

    18

#include "globals.h"

    19

#include "master.h"

    20

#include "slave.h"

    21

#include "types.h"

    22

#include "device.h"

    23

#include "command.h"

    24

#include "ethernet.h"

    25

    26

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

    27

    28

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

    29

    30

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

    31

    32

static struct attribute attr_slave_count = {

    33

    .name = "slave_count",

    34

    .owner = THIS_MODULE,

    35

    .mode = S_IRUGO

    36

};

    37

    38

static struct attribute *ec_def_attrs[] = {

    39

    &attr_slave_count,

    40

    NULL,

    41

};

    42

    43

static struct sysfs_ops ec_sysfs_ops = {

    44

    .show = &ec_show_master_attribute,

    45

    .store = NULL

    46

};

    47

    48

static struct kobj_type ktype_ec_master = {

    49

    .release = ec_master_clear,

    50

    .sysfs_ops = &ec_sysfs_ops,

    51

    .default_attrs = ec_def_attrs

    52

};

    53

    54

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

    55

    56

/**

    57

   Konstruktor des EtherCAT-Masters.

    58

*/

    59

    60

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

    61

                   unsigned int index /**< Master-Index */

    62

                   )

    63

{

    64

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

    65

    66

    master->index = index;

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    master->device = NULL;

    68

    master->reserved = 0;

    69

    70

    INIT_LIST_HEAD(&master->slaves);

    71

    INIT_LIST_HEAD(&master->command_queue);

    72

    INIT_LIST_HEAD(&master->domains);

    73

    INIT_LIST_HEAD(&master->eoe_slaves);

    74

    75

    // Init kobject and add it to the hierarchy

    76

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

    77

    kobject_init(&master->kobj);

    78

    master->kobj.ktype = &ktype_ec_master;

    79

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

    80

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

    81

        kobject_put(&master->kobj);

    82

        return -1;

    83

    }

    84

    85

    ec_command_init(&master->simple_command);

    86

    ec_command_init(&master->watch_command);

    87

    88

    ec_master_reset(master);

    89

    return 0;

    90

}

    91

    92

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

    93

    94

/**

    95

   Destruktor eines EtherCAT-Masters.

    96

    97

   Entfernt alle Kommandos aus der Liste, löscht den Zeiger

    98

   auf das Slave-Array und gibt die Prozessdaten frei.

    99

*/

   100

   101

void ec_master_clear(struct kobject *kobj /**< KObject des Masters */)

   102

{

   103

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

   104

   105

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

   106

   107

    ec_master_reset(master);

   108

   109

    if (master->device) {

   110

        ec_device_clear(master->device);

   111

        kfree(master->device);

   112

    }

   113

   114

    ec_command_clear(&master->simple_command);

   115

    ec_command_clear(&master->watch_command);

   116

   117

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

   118

}

   119

   120

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

   121

   122

/**

   123

   Setzt den Master zurück in den Ausgangszustand.

   124

   125

   Bei einem "release" sollte immer diese Funktion aufgerufen werden,

   126

   da sonst Slave-Liste, Domains, etc. weiter existieren.

   127

*/

   128

   129

void ec_master_reset(ec_master_t *master

   130

                     /**< Zeiger auf den zurückzusetzenden Master */

   131

                     )

   132

{

   133

    ec_slave_t *slave, *next_s;

   134

    ec_command_t *command, *next_c;

   135

    ec_domain_t *domain, *next_d;

   136

    ec_eoe_t *eoe, *next_eoe;

   137

   138

    // Alle Slaves entfernen

   139

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

   140

        list_del(&slave->list);

   141

        kobject_del(&slave->kobj);

   142

        kobject_put(&slave->kobj);

   143

    }

   144

    master->slave_count = 0;

   145

   146

    // Kommando-Warteschlange leeren

   147

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

   148

        list_del_init(&command->queue);

   149

        command->state = EC_CMD_ERROR;

   150

    }

   151

   152

    // Domain-Liste leeren

   153

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

   154

        list_del(&domain->list);

   155

        kobject_del(&domain->kobj);

   156

        kobject_put(&domain->kobj);

   157

    }

   158

   159

    // EOE-Liste leeren

   160

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

   161

        list_del(&eoe->list);

   162

        ec_eoe_clear(eoe);

   163

        kfree(eoe);

   164

    }

   165

   166

    master->command_index = 0;

   167

    master->debug_level = 0;

   168

    master->timeout = 500; // 500us

   169

   170

    master->slaves_responding = 0;

   171

    master->slave_states = EC_SLAVE_STATE_UNKNOWN;

   172

   173

    master->stats.timeouts = 0;

   174

    master->stats.delayed = 0;

   175

    master->stats.corrupted = 0;

   176

    master->stats.unmatched = 0;

   177

    master->stats.eoe_errors = 0;

   178

    master->stats.t_last = 0;

   179

}

   180

   181

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

   182

   183

/**

   184

   Stellt ein Kommando in die Warteschlange.

   185

*/

   186

   187

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

   188

                             ec_command_t *command /**< Kommando */

   189

                             )

   190

{

   191

    ec_command_t *queued_command;

   192

   193

    // Ist das Kommando schon in der Warteschlange?

   194

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

   195

        if (queued_command == command) {

   196

            command->state = EC_CMD_QUEUED;

   197

            if (unlikely(master->debug_level))

   198

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

   199

            return;

   200

        }

   201

    }

   202

   203

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

   204

    command->state = EC_CMD_QUEUED;

   205

}

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

   208

   209

/**

   210

   Sendet die Kommandos in der Warteschlange.

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   212

   \return 0 bei Erfolg, sonst < 0

   213

*/

   214

   215

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

   216

{

   217

    ec_command_t *command;

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    size_t command_size;

   219

    uint8_t *frame_data, *cur_data;

   220

    void *follows_word;

   221

    cycles_t start = 0, end;

   222

    unsigned int frame_count, more_commands_waiting;

   223

   224

    frame_count = 0;

   225

   226

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

   227

        EC_DBG("ec_master_send_commands\n");

   228

        start = get_cycles();

   229

    }

   230

   231

    do {

   232

        // Zeiger auf Socket-Buffer holen

   233

        frame_data = ec_device_tx_data(master->device);

   234

        cur_data = frame_data + EC_FRAME_HEADER_SIZE;

   235

        follows_word = NULL;

   236

        more_commands_waiting = 0;

   237

   238

        // Aktuellen Frame mit Kommandos füllen

   239

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

   240

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

   241

   242

            // Passt das aktuelle Kommando noch in den aktuellen Rahmen?

   243

            command_size = EC_COMMAND_HEADER_SIZE + command->data_size

   244

                + EC_COMMAND_FOOTER_SIZE;

   245

            if (cur_data - frame_data + command_size > EC_MAX_FRAME_SIZE) {

   246

                more_commands_waiting = 1;

   247

                break;

   248

            }

   249

   250

            command->state = EC_CMD_SENT;

   251

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

   252

   253

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

   254

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

   255

   256

            // Command-Following-Flag im letzten Kommando setzen

   257

            if (follows_word)

   258

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

   259

   260

            // EtherCAT command header

   261

            EC_WRITE_U8 (cur_data,     command->type);

   262

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

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

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

   265

            EC_WRITE_U16(cur_data + 8, 0x0000);

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            follows_word = cur_data + 6;

   267

            cur_data += EC_COMMAND_HEADER_SIZE;

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   269

            // EtherCAT command data

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

   271

            cur_data += command->data_size;

   272

   273

            // EtherCAT command footer

   274

            EC_WRITE_U16(cur_data, 0x0000); // Working counter

   275

            cur_data += EC_COMMAND_FOOTER_SIZE;

   276

        }

   277

   278

        if (cur_data - frame_data == EC_FRAME_HEADER_SIZE) {

   279

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

   280

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

   281

            break;

   282

        }

   283

   284

        // EtherCAT frame header

   285

        EC_WRITE_U16(frame_data, ((cur_data - frame_data

   286

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

   287

   288

        // Rahmen auffüllen

   289

        while (cur_data - frame_data < EC_MIN_FRAME_SIZE)

   290

            EC_WRITE_U8(cur_data++, 0x00);

   291

   292

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

   293

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

   294

   295

        // Send frame

   296

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

   297

        frame_count++;

   298

    }

   299

    while (more_commands_waiting);

   300

   301

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

   302

        end = get_cycles();

   303

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

   304

               frame_count, (u32) (end - start) * 1000 / cpu_khz);

   305

    }

   306

}

   307

   308

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

   309

   310

/**

   311

   Processes a received frame.

   312

   313

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

   314

   315

   \return 0 bei Erfolg, sonst < 0

   316

*/

   317

   318

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

   319

                      const uint8_t *frame_data, /**< Empfangene Daten */

   320

                      size_t size /**< Anzahl empfangene Datenbytes */

   321

                      )

   322

{

   323

    size_t frame_size, data_size;

   324

    uint8_t command_type, command_index;

   325

    unsigned int cmd_follows, matched;

   326

    const uint8_t *cur_data;

   327

    ec_command_t *command;

   328

   329

    if (unlikely(size < EC_FRAME_HEADER_SIZE)) {

   330

        master->stats.corrupted++;

   331

        ec_master_output_stats(master);

   332

        return;

   333

    }

   334

   335

    cur_data = frame_data;

   336

   337

    // Länge des gesamten Frames prüfen

   338

    frame_size = EC_READ_U16(cur_data) & 0x07FF;

   339

    cur_data += EC_FRAME_HEADER_SIZE;

   340

   341

    if (unlikely(frame_size > size)) {

   342

        master->stats.corrupted++;

   343

        ec_master_output_stats(master);

   344

        return;

   345

    }

   346

   347

    cmd_follows = 1;

   348

    while (cmd_follows) {

   349

        // Kommando-Header auswerten

   350

        command_type  = EC_READ_U8 (cur_data);

   351

        command_index = EC_READ_U8 (cur_data + 1);

   352

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

   353

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

   354

        cur_data += EC_COMMAND_HEADER_SIZE;

   355

   356

        if (unlikely(cur_data - frame_data

   357

                     + data_size + EC_COMMAND_FOOTER_SIZE > size)) {

   358

            master->stats.corrupted++;

   359

            ec_master_output_stats(master);

   360

            return;

   361

        }

   362

   363

        // Suche passendes Kommando in der Liste

   364

        matched = 0;

   365

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

   366

            if (command->state == EC_CMD_SENT

   367

                && command->type == command_type

   368

                && command->index == command_index

   369

                && command->data_size == data_size) {

   370

                matched = 1;

   371

                break;

   372

            }

   373

        }

   374

   375

        // Kein passendes Kommando in der Liste gefunden

   376

        if (!matched) {

   377

            master->stats.unmatched++;

   378

            ec_master_output_stats(master);

   379

            cur_data += data_size + EC_COMMAND_FOOTER_SIZE;

   380

            continue;

   381

        }

   382

   383

        // Empfangene Daten in Kommando-Datenspeicher kopieren

   384

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

   385

        cur_data += data_size;

   386

   387

        // Working-Counter setzen

   388

        command->working_counter = EC_READ_U16(cur_data);

   389

        cur_data += EC_COMMAND_FOOTER_SIZE;

   390

   391

        // Kommando aus der Warteschlange entfernen

   392

        command->state = EC_CMD_RECEIVED;

   393

        list_del_init(&command->queue);

   394

    }

   395

}

   396

   397

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

   398

   399

/**

   400

   Sendet ein einzelnes Kommando und wartet auf den Empfang.

   401

   402

   Wenn der Slave nicht antwortet, wird das Kommando

   403

   nochmals gesendet.

   404

   405

   \return 0 bei Erfolg, sonst < 0

   406

*/

   407

   408

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

   409

                        ec_command_t *command /**< Kommando */

   410

                        )

   411

{

   412

    unsigned int response_tries_left;

   413

   414

    response_tries_left = 10;

   415

   416

    while (1)

   417

    {

   418

        ec_master_queue_command(master, command);

   419

        ecrt_master_sync_io(master);

   420

   421

        if (command->state == EC_CMD_RECEIVED) {

   422

            if (likely(command->working_counter))

   423

                return 0;

   424

        }

   425

        else if (command->state == EC_CMD_TIMEOUT) {

   426

            EC_ERR("Simple-IO TIMEOUT!\n");

   427

            return -1;

   428

        }

   429

        else if (command->state == EC_CMD_ERROR) {

   430

            EC_ERR("Simple-IO command error!\n");

   431

            return -1;

   432

        }

   433

   434

        // Keine direkte Antwort. Dem Slave Zeit lassen...

   435

        udelay(100);

   436

   437

        if (unlikely(--response_tries_left)) {

   438

            EC_ERR("No response in simple-IO!\n");

   439

            return -1;

   440

        }

   441

    }

   442

}

   443

   444

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

   445

   446

/**

   447

   Durchsucht den EtherCAT-Bus nach Slaves.

   448

   449

   Erstellt ein Array mit allen Slave-Informationen die für den

   450

   weiteren Betrieb notwendig sind.

   451

   452

   \return 0 bei Erfolg, sonst < 0

   453

*/

   454

   455

int ec_master_bus_scan(ec_master_t *master /**< EtherCAT-Master */)

   456

{

   457

    ec_slave_t *slave, *next;

   458

    ec_slave_ident_t *ident;

   459

    unsigned int i;

   460

    ec_command_t *command;

   461

    ec_eoe_t *eoe;

   462

    uint16_t buscoupler_index, index_after_buscoupler;

   463

   464

    if (!list_empty(&master->slaves)) {

   465

        EC_ERR("Slave scan already done!\n");

   466

        return -1;

   467

    }

   468

   469

    command = &master->simple_command;

   470

   471

    // Determine number of slaves on bus

   472

    if (ec_command_brd(command, 0x0000, 4)) return -1;

   473

    if (unlikely(ec_master_simple_io(master, command))) return -1;

   474

    master->slave_count = command->working_counter;

   475

    EC_INFO("Found %i slaves on bus.\n", master->slave_count);

   476

   477

    if (!master->slave_count) return 0;

   478

   479

    // Init slaves

   480

    for (i = 0; i < master->slave_count; i++) {

   481

        if (!(slave = (ec_slave_t *) kmalloc(sizeof(ec_slave_t), GFP_KERNEL))) {

   482

            EC_ERR("Failed to allocate slave %i!\n", i);

   483

            goto out_free;

   484

        }

   485

   486

        if (ec_slave_init(slave, master, i, i + 1)) goto out_free;

   487

   488

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

   489

            EC_ERR("Failed to add kobject.\n");

   490

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