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

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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

    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

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 *  industrial property and similar rights of Beckhoff Automation GmbH.

    27

 *

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 *  vim: expandtab

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 *

    30

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

    31

    32

/**

    33

   \file

    34

   EtherCAT master methods.

    35

*/

    36

    37

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

    38

    39

#include <linux/module.h>

    40

#include <linux/kernel.h>

    41

#include <linux/string.h>

    42

#include <linux/slab.h>

    43

#include <linux/delay.h>

    44

#include <linux/device.h>

    45

#include <linux/version.h>

    46

#include <linux/hrtimer.h>

    47

#include "globals.h"

    48

#include "slave.h"

    49

#include "slave_config.h"

    50

#include "device.h"

    51

#include "datagram.h"

    52

#ifdef EC_EOE

    53

#include "ethernet.h"

    54

#endif

    55

#include "master.h"

    56

    57

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

    58

    59

/** Set to 1 to enable external datagram injection debugging.

    60

 */

    61

#define DEBUG_INJECT 0

    62

    63

#ifdef EC_HAVE_CYCLES

    64

    65

/** Frame timeout in cycles.

    66

 */

    67

static cycles_t timeout_cycles;

    68

    69

/** Timeout for external datagram injection [cycles].

    70

 */

    71

static cycles_t ext_injection_timeout_cycles;

    72

    73

#else

    74

    75

/** Frame timeout in jiffies.

    76

 */

    77

static unsigned long timeout_jiffies;

    78

    79

/** Timeout for external datagram injection [jiffies].

    80

 */

    81

static unsigned long ext_injection_timeout_jiffies;

    82

    83

#endif

    84

    85

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

    86

    87

void ec_master_clear_slave_configs(ec_master_t *);

    88

void ec_master_clear_domains(ec_master_t *);

    89

static int ec_master_idle_thread(void *);

    90

static int ec_master_operation_thread(void *);

    91

#ifdef EC_EOE

    92

static int ec_master_eoe_thread(void *);

    93

#endif

    94

void ec_master_find_dc_ref_clock(ec_master_t *);

    95

    96

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

    97

    98

/** Static variables initializer.

    99

*/

   100

void ec_master_init_static(void)

   101

{

   102

#ifdef EC_HAVE_CYCLES

   103

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

   104

    ext_injection_timeout_cycles = (cycles_t) EC_SDO_INJECTION_TIMEOUT /* us */ * (cpu_khz / 1000);

   105

#else

   106

    // one jiffy may always elapse between time measurement

   107

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

   108

    ext_injection_timeout_jiffies = max(EC_SDO_INJECTION_TIMEOUT * HZ / 1000000, 1);

   109

#endif

   110

}

   111

   112

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

   113

   114

/**

   115

   Master constructor.

   116

   \return 0 in case of success, else < 0

   117

*/

   118

   119

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

   120

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

   121

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

   122

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

   123

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

   124

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

   125

        unsigned int debug_level /**< Debug level (module parameter). */

   126

        )

   127

{

   128

    int ret;

   129

   130

    master->index = index;

   131

    master->reserved = 0;

   132

   133

    sema_init(&master->master_sem, 1);

   134

   135

    master->main_mac = main_mac;

   136

    master->backup_mac = backup_mac;

   137

   138

    sema_init(&master->device_sem, 1);

   139

   140

    master->phase = EC_ORPHANED;

   141

    master->active = 0;

   142

    master->config_changed = 0;

   143

    master->injection_seq_fsm = 0;

   144

    master->injection_seq_rt = 0;

   145

   146

    master->slaves = NULL;

   147

    master->slave_count = 0;

   148

   149

    INIT_LIST_HEAD(&master->configs);

   150

   151

    master->app_time = 0ULL;

   152

    master->app_start_time = 0ULL;

   153

    master->has_app_time = 0;

   154

   155

    master->scan_busy = 0;

   156

    master->allow_scan = 1;

   157

    sema_init(&master->scan_sem, 1);

   158

    init_waitqueue_head(&master->scan_queue);

   159

   160

    master->config_busy = 0;

   161

    master->allow_config = 1;

   162

    sema_init(&master->config_sem, 1);

   163

    init_waitqueue_head(&master->config_queue);

   164

   165

    INIT_LIST_HEAD(&master->datagram_queue);

   166

    master->datagram_index = 0;

   167

   168

    INIT_LIST_HEAD(&master->ext_datagram_queue);

   169

    sema_init(&master->ext_queue_sem, 1);

   170

   171

    INIT_LIST_HEAD(&master->external_datagram_queue);

   172

   173

    // send interval in IDLE phase

   174

    ec_master_set_send_interval(master, 1000000 / HZ);

   175

   176

    INIT_LIST_HEAD(&master->domains);

   177

   178

    master->debug_level = debug_level;

   179

    master->stats.timeouts = 0;

   180

    master->stats.corrupted = 0;

   181

    master->stats.unmatched = 0;

   182

    master->stats.output_jiffies = 0;

   183

   184

    master->thread = NULL;

   185

   186

#ifdef EC_EOE

   187

    master->eoe_thread = NULL;

   188

    INIT_LIST_HEAD(&master->eoe_handlers);

   189

#endif

   190

   191

    sema_init(&master->io_sem, 1);

   192

    master->send_cb = NULL;

   193

    master->receive_cb = NULL;

   194

    master->cb_data = NULL;

   195

    master->app_send_cb = NULL;

   196

    master->app_receive_cb = NULL;

   197

    master->app_cb_data = NULL;

   198

   199

    INIT_LIST_HEAD(&master->sii_requests);

   200

    init_waitqueue_head(&master->sii_queue);

   201

   202

    INIT_LIST_HEAD(&master->reg_requests);

   203

    init_waitqueue_head(&master->reg_queue);

   204

   205

    // init devices

   206

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

   207

    if (ret < 0)

   208

        goto out_return;

   209

   210

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

   211

    if (ret < 0)

   212

        goto out_clear_main;

   213

   214

    // init state machine datagram

   215

    ec_datagram_init(&master->fsm_datagram);

   216

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

   217

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

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    if (ret < 0) {

   219

        ec_datagram_clear(&master->fsm_datagram);

   220

        EC_MASTER_ERR(master, "Failed to allocate FSM datagram.\n");

   221

        goto out_clear_backup;

   222

    }

   223

   224

    // create state machine object

   225

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

   226

   227

    // init reference sync datagram

   228

    ec_datagram_init(&master->ref_sync_datagram);

   229

    snprintf(master->ref_sync_datagram.name, EC_DATAGRAM_NAME_SIZE, "refsync");

   230

    ret = ec_datagram_apwr(&master->ref_sync_datagram, 0, 0x0910, 8);

   231

    if (ret < 0) {

   232

        ec_datagram_clear(&master->ref_sync_datagram);

   233

        EC_MASTER_ERR(master, "Failed to allocate reference"

   234

                " synchronisation datagram.\n");

   235

        goto out_clear_fsm;

   236

    }

   237

   238

    // init sync datagram

   239

    ec_datagram_init(&master->sync_datagram);

   240

    snprintf(master->sync_datagram.name, EC_DATAGRAM_NAME_SIZE, "sync");

   241

    ret = ec_datagram_prealloc(&master->sync_datagram, 4);

   242

    if (ret < 0) {

   243

        ec_datagram_clear(&master->sync_datagram);

   244

        EC_MASTER_ERR(master, "Failed to allocate"

   245

                " synchronisation datagram.\n");

   246

        goto out_clear_ref_sync;

   247

    }

   248

   249

    // init sync monitor datagram

   250

    ec_datagram_init(&master->sync_mon_datagram);

   251

    snprintf(master->sync_mon_datagram.name, EC_DATAGRAM_NAME_SIZE, "syncmon");

   252

    ret = ec_datagram_brd(&master->sync_mon_datagram, 0x092c, 4);

   253

    if (ret < 0) {

   254

        ec_datagram_clear(&master->sync_mon_datagram);

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        EC_MASTER_ERR(master, "Failed to allocate sync"

   256

                " monitoring datagram.\n");

   257

        goto out_clear_sync;

   258

    }

   259

   260

    ec_master_find_dc_ref_clock(master);

   261

   262

    // init character device

   263

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

   264

    if (ret)

   265

        goto out_clear_sync_mon;

   266

   267

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

   268

    master->class_device = device_create(class, NULL,

   269

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

   270

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

   271

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

   272

    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);

   275

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

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    master->class_device = class_device_create(class, NULL,

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

   278

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

   279

#else

   280

    master->class_device = class_device_create(class,

   281

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

   282

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

   283

#endif

   284

    if (IS_ERR(master->class_device)) {

   285

        EC_MASTER_ERR(master, "Failed to create class device!\n");

   286

        ret = PTR_ERR(master->class_device);

   287

        goto out_clear_cdev;

   288

    }

   289

   290

    return 0;

   291

   292

out_clear_cdev:

   293

    ec_cdev_clear(&master->cdev);

   294

out_clear_sync_mon:

   295

    ec_datagram_clear(&master->sync_mon_datagram);

   296

out_clear_sync:

   297

    ec_datagram_clear(&master->sync_datagram);

   298

out_clear_ref_sync:

   299

    ec_datagram_clear(&master->ref_sync_datagram);

   300

out_clear_fsm:

   301

    ec_fsm_master_clear(&master->fsm);

   302

    ec_datagram_clear(&master->fsm_datagram);

   303

out_clear_backup:

   304

    ec_device_clear(&master->backup_device);

   305

out_clear_main:

   306

    ec_device_clear(&master->main_device);

   307

out_return:

   308

    return ret;

   309

}

   310

   311

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

   312

   313

/** Destructor.

   314

*/

   315

void ec_master_clear(

   316

        ec_master_t *master /**< EtherCAT master */

   317

        )

   318

{

   319

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

   320

    device_unregister(master->class_device);

   321

#else

   322

    class_device_unregister(master->class_device);

   323

#endif

   324

   325

    ec_cdev_clear(&master->cdev);

   326

   327

#ifdef EC_EOE

   328

    ec_master_clear_eoe_handlers(master);

   329

#endif

   330

    ec_master_clear_domains(master);

   331

    ec_master_clear_slave_configs(master);

   332

    ec_master_clear_slaves(master);

   333

   334

    ec_datagram_clear(&master->sync_mon_datagram);

   335

    ec_datagram_clear(&master->sync_datagram);

   336

    ec_datagram_clear(&master->ref_sync_datagram);

   337

    ec_fsm_master_clear(&master->fsm);

   338

    ec_datagram_clear(&master->fsm_datagram);

   339

    ec_device_clear(&master->backup_device);

   340

    ec_device_clear(&master->main_device);

   341

}

   342

   343

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

   344

   345

#ifdef EC_EOE

   346

/** Clear and free all EoE handlers.

   347

 */

   348

void ec_master_clear_eoe_handlers(

   349

        ec_master_t *master /**< EtherCAT master */

   350

        )

   351

{

   352

    ec_eoe_t *eoe, *next;

   353

   354

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

   355

        list_del(&eoe->list);

   356

        ec_eoe_clear(eoe);

   357

        kfree(eoe);

   358

    }

   359

}

   360

#endif

   361

   362

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

   363

   364

/** Clear all slave configurations.

   365

 */

   366

void ec_master_clear_slave_configs(ec_master_t *master)

   367

{

   368

    ec_slave_config_t *sc, *next;

   369

   370

    list_for_each_entry_safe(sc, next, &master->configs, list) {

   371

        list_del(&sc->list);

   372

        ec_slave_config_clear(sc);

   373

        kfree(sc);

   374

    }

   375

}

   376

   377

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

   378

   379

/** Clear all slaves.

   380

 */

   381

void ec_master_clear_slaves(ec_master_t *master)

   382

{

   383

    ec_slave_t *slave;

   384

   385

    master->dc_ref_clock = NULL;

   386

   387

    // external requests are obsolete, so we wake pending waiters and remove

   388

    // them from the list

   389

   390

    while (!list_empty(&master->sii_requests)) {

   391

        ec_sii_write_request_t *request =

   392

            list_entry(master->sii_requests.next,

   393

                    ec_sii_write_request_t, list);

   394

        list_del_init(&request->list); // dequeue

   395

        EC_MASTER_WARN(master, "Discarding SII request, slave %u about"

   396

                " to be deleted.\n", request->slave->ring_position);

   397

        request->state = EC_INT_REQUEST_FAILURE;

   398

        wake_up(&master->sii_queue);

   399

    }

   400

   401

    while (!list_empty(&master->reg_requests)) {

   402

        ec_reg_request_t *request =

   403

            list_entry(master->reg_requests.next, ec_reg_request_t, list);

   404

        list_del_init(&request->list); // dequeue

   405

        EC_MASTER_WARN(master, "Discarding register request, slave %u"

   406

                " about to be deleted.\n", request->slave->ring_position);

   407

        request->state = EC_INT_REQUEST_FAILURE;

   408

        wake_up(&master->reg_queue);

   409

    }

   410

   411

    for (slave = master->slaves;

   412

            slave < master->slaves + master->slave_count;

   413

            slave++) {

   414

        ec_slave_clear(slave);

   415

    }

   416

   417

    if (master->slaves) {

   418

        kfree(master->slaves);

   419

        master->slaves = NULL;

   420

    }

   421

   422

    master->slave_count = 0;

   423

}

   424

   425

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

   426

   427

/** Clear all domains.

   428

 */

   429

void ec_master_clear_domains(ec_master_t *master)

   430

{

   431

    ec_domain_t *domain, *next;

   432

   433

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

   434

        list_del(&domain->list);

   435

        ec_domain_clear(domain);

   436

        kfree(domain);

   437

    }

   438

}

   439

   440

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

   441

   442

/** Internal sending callback.

   443

 */

   444

void ec_master_internal_send_cb(

   445

        void *cb_data /**< Callback data. */

   446

        )

   447

{

   448

    ec_master_t *master = (ec_master_t *) cb_data;

   449

    down(&master->io_sem);

   450

    ecrt_master_send_ext(master);

   451

    up(&master->io_sem);

   452

}

   453

   454

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

   455

   456

/** Internal receiving callback.

   457

 */

   458

void ec_master_internal_receive_cb(

   459

        void *cb_data /**< Callback data. */

   460

        )

   461

{

   462

    ec_master_t *master = (ec_master_t *) cb_data;

   463

    down(&master->io_sem);

   464

    ecrt_master_receive(master);

   465

    up(&master->io_sem);

   466

}

   467

   468

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

   469

   470

/** Starts the master thread.

   471

 *

   472

 * \retval  0 Success.

   473

 * \retval <0 Error code.

   474

 */

   475

int ec_master_thread_start(

   476

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

   477

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

   478

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

   479

        )

   480

{

   481

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