1

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

     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

    11

 *  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

    16

 *  Public License for more details.

    17

 *

    18

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

    19

 *  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

 *  ---

    23

 *

    24

 *  The license mentioned above concerns the source code only. Using the

    25

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

    26

 *  industrial property and similar rights of Beckhoff Automation GmbH.

    27

 *

    28

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

    29

    30

/**

    31

   \file

    32

   EtherCAT master structure.

    33

*/

    34

    35

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

    36

    37

#ifndef __EC_MASTER_H__

    38

#define __EC_MASTER_H__

    39

    40

#include <linux/version.h>

    41

#include <linux/list.h>

    42

#include <linux/timer.h>

    43

#include <linux/wait.h>

    44

#include <linux/kthread.h>

    45

    46

#if LINUX_VERSION_CODE >= KERNEL_VERSION(2, 6, 27)

    47

#include <linux/semaphore.h>

    48

#else

    49

#include <asm/semaphore.h>

    50

#endif

    51

    52

#include "device.h"

    53

#include "domain.h"

    54

#include "ethernet.h"

    55

#include "fsm_master.h"

    56

#include "cdev.h"

    57

    58

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

    59

    60

/** Convenience macro for printing master-specific information to syslog.

    61

 *

    62

 * This will print the message in \a fmt with a prefixed "EtherCAT <INDEX>: ",

    63

 * where INDEX is the master index.

    64

 *

    65

 * \param master EtherCAT master

    66

 * \param fmt format string (like in printf())

    67

 * \param args arguments (optional)

    68

 */

    69

#define EC_MASTER_INFO(master, fmt, args...) \

    70

    printk(KERN_INFO "EtherCAT %u: " fmt, master->index, ##args)

    71

    72

/** Convenience macro for printing master-specific errors to syslog.

    73

 *

    74

 * This will print the message in \a fmt with a prefixed "EtherCAT <INDEX>: ",

    75

 * where INDEX is the master index.

    76

 *

    77

 * \param master EtherCAT master

    78

 * \param fmt format string (like in printf())

    79

 * \param args arguments (optional)

    80

 */

    81

#define EC_MASTER_ERR(master, fmt, args...) \

    82

    printk(KERN_ERR "EtherCAT ERROR %u: " fmt, master->index, ##args)

    83

    84

/** Convenience macro for printing master-specific warnings to syslog.

    85

 *

    86

 * This will print the message in \a fmt with a prefixed "EtherCAT <INDEX>: ",

    87

 * where INDEX is the master index.

    88

 *

    89

 * \param master EtherCAT master

    90

 * \param fmt format string (like in printf())

    91

 * \param args arguments (optional)

    92

 */

    93

#define EC_MASTER_WARN(master, fmt, args...) \

    94

    printk(KERN_WARNING "EtherCAT WARNING %u: " fmt, master->index, ##args)

    95

    96

/** Convenience macro for printing master-specific debug messages to syslog.

    97

 *

    98

 * This will print the message in \a fmt with a prefixed "EtherCAT <INDEX>: ",

    99

 * where INDEX is the master index.

   100

 *

   101

 * \param master EtherCAT master

   102

 * \param fmt format string (like in printf())

   103

 * \param args arguments (optional)

   104

 */

   105

#define EC_MASTER_DBG(master, level, fmt, args...) \

   106

    do { \

   107

        if (master->debug_level >= level) { \

   108

            printk(KERN_DEBUG "EtherCAT DEBUG %u: " fmt, \

   109

                    master->index, ##args); \

   110

        } \

   111

    } while (0)

   112

   113

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

   114

   115

/** EtherCAT master phase.

   116

 */

   117

typedef enum {

   118

    EC_ORPHANED, /**< Orphaned phase. The master has no Ethernet device

   119

                   attached. */

   120

    EC_IDLE, /**< Idle phase. An Ethernet device is attached, but the master

   121

               is not in use, yet. */

   122

    EC_OPERATION /**< Operation phase. The master was requested by a realtime

   123

                   application. */

   124

} ec_master_phase_t;

   125

   126

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

   127

   128

/** Cyclic statistics.

   129

 */

   130

typedef struct {

   131

    unsigned int timeouts; /**< datagram timeouts */

   132

    unsigned int corrupted; /**< corrupted frames */

   133

    unsigned int unmatched; /**< unmatched datagrams (received, but not

   134

                               queued any longer) */

   135

    unsigned long output_jiffies; /**< time of last output */

   136

} ec_stats_t;

   137

   138

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

   139

   140

/** Device statistics.

   141

 */

   142

typedef struct {

   143

    u64 tx_count; /**< Number of frames sent. */

   144

    u64 last_tx_count; /**< Number of frames sent of last statistics cycle. */

   145

    u64 rx_count; /**< Number of frames received. */

   146

    u64 last_rx_count; /**< Number of frames received of last statistics

   147

                         cycle. */

   148

    u64 tx_bytes; /**< Number of bytes sent. */

   149

    u64 last_tx_bytes; /**< Number of bytes sent of last statistics cycle. */

   150

    u64 rx_bytes; /**< Number of bytes received. */

   151

    u64 last_rx_bytes; /**< Number of bytes received of last statistics cycle.

   152

                        */

   153

    u64 last_loss; /**< Tx/Rx difference of last statistics cycle. */

   154

    s32 tx_frame_rates[EC_RATE_COUNT]; /**< Transmit rates in frames/s for

   155

                                         different statistics cycle periods.

   156

                                        */

   157

    s32 rx_frame_rates[EC_RATE_COUNT]; /**< Receive rates in frames/s for

   158

                                         different statistics cycle periods.

   159

                                        */

   160

    s32 tx_byte_rates[EC_RATE_COUNT]; /**< Transmit rates in byte/s for

   161

                                        different statistics cycle periods. */

   162

    s32 rx_byte_rates[EC_RATE_COUNT]; /**< Receive rates in byte/s for

   163

                                        different statistics cycle periods. */

   164

    s32 loss_rates[EC_RATE_COUNT]; /**< Frame loss rates for different

   165

                                     statistics cycle periods. */

   166

    unsigned long jiffies; /**< Jiffies of last statistic cycle. */

   167

} ec_device_stats_t;

   168

   169

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

   170

   171

/** EtherCAT master.

   172

 *

   173

 * Manages slaves, domains and IO.

   174

 */

   175

struct ec_master {

   176

    unsigned int index; /**< Index. */

   177

    unsigned int reserved; /**< \a True, if the master is in use. */

   178

   179

    ec_cdev_t cdev; /**< Master character device. */

   180

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

   181

    struct device *class_device; /**< Master class device. */

   182

#else

   183

    struct class_device *class_device; /**< Master class device. */

   184

#endif

   185

   186

    struct semaphore master_sem; /**< Master semaphore. */

   187

   188

    ec_device_t devices[EC_NUM_DEVICES]; /**< EtherCAT devices. */

   189

    const uint8_t *macs[EC_NUM_DEVICES]; /**< Device MAC addresses. */

   190

    struct semaphore device_sem; /**< Device semaphore. */

   191

    ec_device_stats_t device_stats; /**< Device statistics. */

   192

   193

    ec_fsm_master_t fsm; /**< Master state machine. */

   194

    ec_datagram_t fsm_datagram; /**< Datagram used for state machines. */

   195

    ec_master_phase_t phase; /**< Master phase. */

   196

    unsigned int active; /**< Master has been activated. */

   197

    unsigned int config_changed; /**< The configuration changed. */

   198

    unsigned int injection_seq_fsm; /**< Datagram injection sequence number

   199

                                      for the FSM side. */

   200

    unsigned int injection_seq_rt; /**< Datagram injection sequence number

   201

                                     for the realtime side. */

   202

   203

    ec_slave_t *slaves; /**< Array of slaves on the bus. */

   204

    unsigned int slave_count; /**< Number of slaves on the bus. */

   205

   206

    /* Configuration applied by the application. */

   207

    struct list_head configs; /**< List of slave configurations. */

   208

    struct list_head domains; /**< List of domains. */

   209

   210

    u64 app_time; /**< Time of the last ecrt_master_sync() call. */

   211

    u64 app_start_time; /**< Application start time. */

   212

    u8 has_app_time; /**< Application time is valid. */

   213

    ec_datagram_t ref_sync_datagram; /**< Datagram used for synchronizing the

   214

                                       reference clock to the master clock. */

   215

    ec_datagram_t sync_datagram; /**< Datagram used for DC drift

   216

                                   compensation. */

   217

    ec_datagram_t sync_mon_datagram; /**< Datagram used for DC synchronisation

   218

                                       monitoring. */

   219

    ec_slave_t *dc_ref_clock; /**< DC reference clock slave. */

   220

   221

    unsigned int scan_busy; /**< Current scan state. */

   222

    unsigned int allow_scan; /**< \a True, if slave scanning is allowed. */

   223

    struct semaphore scan_sem; /**< Semaphore protecting the \a scan_busy

   224

                                 variable and the \a allow_scan flag. */

   225

    wait_queue_head_t scan_queue; /**< Queue for processes that wait for

   226

                                    slave scanning. */

   227

   228

    unsigned int config_busy; /**< State of slave configuration. */

   229

    struct semaphore config_sem; /**< Semaphore protecting the \a config_busy

   230

                                   variable and the allow_config flag. */

   231

    wait_queue_head_t config_queue; /**< Queue for processes that wait for

   232

                                      slave configuration. */

   233

   234

    struct list_head datagram_queue; /**< Datagram queue. */

   235

    uint8_t datagram_index; /**< Current datagram index. */

   236

   237

    struct list_head ext_datagram_queue; /**< Queue for non-application

   238

                                           datagrams. */

   239

    struct semaphore ext_queue_sem; /**< Semaphore protecting the \a

   240

                                      ext_datagram_queue. */

   241

   242

    struct list_head external_datagram_queue; /**< External Datagram queue. */

   243

    unsigned int send_interval; /**< Interval between two calls to

   244

                                  ecrt_master_send(). */

   245

    size_t max_queue_size; /**< Maximum size of datagram queue */

   246

   247

    unsigned int debug_level; /**< Master debug level. */

   248

    ec_stats_t stats; /**< Cyclic statistics. */

   249

   250

    struct task_struct *thread; /**< Master thread. */

   251

   252

#ifdef EC_EOE

   253

    struct task_struct *eoe_thread; /**< EoE thread. */

   254

    struct list_head eoe_handlers; /**< Ethernet over EtherCAT handlers. */

   255

#endif

   256

   257

    struct semaphore io_sem; /**< Semaphore used in \a IDLE phase. */

   258

   259

    void (*send_cb)(void *); /**< Current send datagrams callback. */

   260

    void (*receive_cb)(void *); /**< Current receive datagrams callback. */

   261

    void *cb_data; /**< Current callback data. */

   262

    void (*app_send_cb)(void *); /**< Application's send datagrams

   263

                                          callback. */

   264

    void (*app_receive_cb)(void *); /**< Application's receive datagrams

   265

                                      callback. */

   266

    void *app_cb_data; /**< Application callback data. */

   267

   268

    struct list_head sii_requests; /**< SII write requests. */

   269

    wait_queue_head_t sii_queue; /**< Wait queue for SII

   270

                                      write requests from user space. */

   271

   272

    struct list_head reg_requests; /**< Register requests. */

   273

    wait_queue_head_t reg_queue; /**< Wait queue for register requests. */

   274

};

   275

   276

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

   277

   278

// static funtions

   279

void ec_master_init_static(void);

   280

   281

// master creation/deletion

   282

int ec_master_init(ec_master_t *, unsigned int, const uint8_t *,

   283

        const uint8_t *, dev_t, struct class *, unsigned int);

   284

void ec_master_clear(ec_master_t *);

   285

   286

// phase transitions

   287

int ec_master_enter_idle_phase(ec_master_t *);

   288

void ec_master_leave_idle_phase(ec_master_t *);

   289

int ec_master_enter_operation_phase(ec_master_t *);

   290

void ec_master_leave_operation_phase(ec_master_t *);

   291

   292

#ifdef EC_EOE

   293

// EoE

   294

void ec_master_eoe_start(ec_master_t *);

   295

void ec_master_eoe_stop(ec_master_t *);

   296

#endif

   297

   298

// datagram IO

   299

void ec_master_receive_datagrams(ec_master_t *, const uint8_t *, size_t);

   300

void ec_master_queue_datagram(ec_master_t *, ec_datagram_t *);

   301

void ec_master_queue_datagram_ext(ec_master_t *, ec_datagram_t *);

   302

void ec_master_queue_external_datagram(ec_master_t *, ec_datagram_t *);

   303

void ec_master_inject_external_datagrams(ec_master_t *);

   304

   305

// misc.

   306

void ec_master_set_send_interval(ec_master_t *, unsigned int);

   307

void ec_master_attach_slave_configs(ec_master_t *);

   308

ec_slave_t *ec_master_find_slave(ec_master_t *, uint16_t, uint16_t);

   309

const ec_slave_t *ec_master_find_slave_const(const ec_master_t *, uint16_t,

   310

        uint16_t);

   311

void ec_master_output_stats(ec_master_t *);

   312

#ifdef EC_EOE

   313

void ec_master_clear_eoe_handlers(ec_master_t *);

   314

#endif

   315

void ec_master_clear_slaves(ec_master_t *);

   316

   317

unsigned int ec_master_config_count(const ec_master_t *);

   318

ec_slave_config_t *ec_master_get_config(

   319

        const ec_master_t *, unsigned int);

   320

const ec_slave_config_t *ec_master_get_config_const(

   321

        const ec_master_t *, unsigned int);

   322

unsigned int ec_master_domain_count(const ec_master_t *);

   323

ec_domain_t *ec_master_find_domain(ec_master_t *, unsigned int);

   324

const ec_domain_t *ec_master_find_domain_const(const ec_master_t *,

   325

        unsigned int);

   326

#ifdef EC_EOE

   327

uint16_t ec_master_eoe_handler_count(const ec_master_t *);

   328

const ec_eoe_t *ec_master_get_eoe_handler_const(const ec_master_t *, uint16_t);

   329

#endif

   330

   331

int ec_master_debug_level(ec_master_t *, unsigned int);

   332

   333

ec_domain_t *ecrt_master_create_domain_err(ec_master_t *);

   334

ec_slave_config_t *ecrt_master_slave_config_err(ec_master_t *, uint16_t,

   335

        uint16_t, uint32_t, uint32_t);

   336

   337

void ec_master_calc_dc(ec_master_t *);

   338

void ec_master_request_op(ec_master_t *);

   339

   340

void ec_master_internal_send_cb(void *);

   341

void ec_master_internal_receive_cb(void *);

   342

   343

extern const unsigned int rate_intervals[EC_RATE_COUNT]; // see master.c

   344

   345

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

   346

   347

#endif