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

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 *

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 *  $Id$

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 *

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 *  Copyright (C) 2006  Florian Pose, Ingenieurgemeinschaft IgH

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 *

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 *  This file is part of the IgH EtherCAT Master.

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 *

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 *  The IgH EtherCAT Master is free software; you can redistribute it

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 *  and/or modify it under the terms of the GNU General Public License

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 *  as published by the Free Software Foundation; either version 2 of the

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 *  License, or (at your option) any later version.

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 *

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 *  The IgH EtherCAT Master is distributed in the hope that it will be

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 *  useful, but WITHOUT ANY WARRANTY; without even the implied warranty of

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 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

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 *  GNU General Public License for more details.

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 *

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

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 *  along with the IgH EtherCAT Master; if not, write to the Free Software

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 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA

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 *

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 *  The right to use EtherCAT Technology is granted and comes free of

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 *  charge under condition of compatibility of product made by

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 *  Licensee. People intending to distribute/sell products based on the

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 *  code, have to sign an agreement to guarantee that products using

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 *  software based on IgH EtherCAT master stay compatible with the actual

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 *  EtherCAT specification (which are released themselves as an open

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 *  standard) as the (only) precondition to have the right to use EtherCAT

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 *  Technology, IP and trade marks.

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 *

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

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/**

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   \file

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   EtherCAT master methods.

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*/

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

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#include <linux/module.h>

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#include <linux/kernel.h>

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#include <linux/string.h>

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#include <linux/slab.h>

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#include <linux/delay.h>

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

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#include "globals.h"

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#include "master.h"

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#include "slave.h"

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#include "device.h"

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#include "datagram.h"

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#include "ethernet.h"

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

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void ec_master_clear(struct kobject *);

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void ec_master_sync_io(ec_master_t *);

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void ec_master_idle_run(void *);

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void ec_master_eoe_run(unsigned long);

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void ec_master_check_sdo(unsigned long);

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

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ssize_t ec_store_master_attribute(struct kobject *, struct attribute *,

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                                  const char *, size_t);

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

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/** \cond */

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EC_SYSFS_READ_ATTR(info);

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EC_SYSFS_READ_WRITE_ATTR(eeprom_write_enable);

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EC_SYSFS_READ_WRITE_ATTR(debug_level);

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static struct attribute *ec_def_attrs[] = {

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    &attr_info,

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    &attr_eeprom_write_enable,

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    &attr_debug_level,

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    NULL,

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};

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static struct sysfs_ops ec_sysfs_ops = {

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    .show = &ec_show_master_attribute,

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    .store = ec_store_master_attribute

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};

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static struct kobj_type ktype_ec_master = {

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    .release = ec_master_clear,

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    .sysfs_ops = &ec_sysfs_ops,

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    .default_attrs = ec_def_attrs

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};

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/** \endcond */

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

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/**

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   Master constructor.

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   \return 0 in case of success, else < 0

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*/

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

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

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

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                   dev_t dev_num /**< number for XML cdev's */

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                   )

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{

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    ec_eoe_t *eoe, *next_eoe;

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    unsigned int i;

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

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    master->index = index;

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    master->device = NULL;

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    init_MUTEX(&master->device_sem);

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    INIT_LIST_HEAD(&master->slaves);

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    INIT_LIST_HEAD(&master->datagram_queue);

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    INIT_LIST_HEAD(&master->domains);

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

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    init_timer(&master->eoe_timer);

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    master->eoe_timer.function = ec_master_eoe_run;

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

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    master->eoe_running = 0;

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    master->eoe_checked = 0;

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    init_MUTEX(&master->sdo_sem);

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    init_timer(&master->sdo_timer);

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    master->sdo_timer.function = ec_master_check_sdo;

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

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    init_completion(&master->sdo_complete);

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    // create workqueue

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

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

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        goto out_return;

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    }

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    // init XML character device

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    if (ec_xmldev_init(&master->xmldev, master, dev_num)) {

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        EC_ERR("Failed to init XML character device.\n");

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        goto out_clear_wq;

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    }

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    // create EoE handlers

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

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

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

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            goto out_clear_eoe;

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        }

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        if (ec_eoe_init(eoe)) {

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            kfree(eoe);

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            goto out_clear_eoe;

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        }

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

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    }

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    // create state machine object

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

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    // init kobject and add it to the hierarchy

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

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    kobject_init(&master->kobj);

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    master->kobj.ktype = &ktype_ec_master;

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

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

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        kobject_put(&master->kobj);

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        return -1;

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    }

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    return 0;

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 out_clear_eoe:

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

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        list_del(&eoe->list);

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        ec_eoe_clear(eoe);

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        kfree(eoe);

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    }

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    ec_xmldev_clear(&master->xmldev);

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 out_clear_wq:

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    destroy_workqueue(master->workqueue);

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 out_return:

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    return -1;

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}

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

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/**

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   Master destructor.

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

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   and frees the device.

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*/

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

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{

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

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    ec_eoe_t *eoe, *next_eoe;

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    ec_fsm_clear(&master->fsm);

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    destroy_workqueue(master->workqueue);

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    ec_xmldev_clear(&master->xmldev);

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    // clear EoE objects

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

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        list_del(&eoe->list);

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        ec_eoe_clear(eoe);

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        kfree(eoe);

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    }

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

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    kfree(master);

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}

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

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/**

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   Clears all slaves.

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*/

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void ec_master_clear_slaves(ec_master_t *master)

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{

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    ec_slave_t *slave, *next_slave;

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

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        list_del(&slave->list);

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        kobject_del(&slave->kobj);

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        kobject_put(&slave->kobj);

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    }

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    master->slave_count = 0;

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}

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

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/**

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   Flushes the SDO request queue.

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*/

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void ec_master_flush_sdo_requests(ec_master_t *master)

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{

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    del_timer_sync(&master->sdo_timer);

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    complete(&master->sdo_complete);

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    master->sdo_request = NULL;

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    master->sdo_seq_user = 0;

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    master->sdo_seq_master = 0;

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}

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

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/**

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   Places a datagram in the datagram queue.

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*/

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

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                              ec_datagram_t *datagram /**< datagram */

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                              )

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{

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    ec_datagram_t *queued_datagram;

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    // check, if the datagram is already queued

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

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        if (queued_datagram == datagram) {

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            master->stats.skipped++;

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            ec_master_output_stats(master);

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            datagram->state = EC_DATAGRAM_QUEUED;

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            return;

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        }

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    }

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

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    datagram->state = EC_DATAGRAM_QUEUED;

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    datagram->cycles_queued = get_cycles();

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}

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

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/**

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   Sends the datagrams in the queue.

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   \return 0 in case of success, else < 0

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*/

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

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{

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    ec_datagram_t *datagram, *next;

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    size_t datagram_size;

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    uint8_t *frame_data, *cur_data;

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    void *follows_word;

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    cycles_t cycles_start, cycles_sent, cycles_end;

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    unsigned long jiffies_sent;

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    unsigned int frame_count, more_datagrams_waiting;

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    struct list_head sent_datagrams;

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    cycles_start = get_cycles();

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    frame_count = 0;

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    INIT_LIST_HEAD(&sent_datagrams);

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

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        EC_DBG("ec_master_send_datagrams\n");

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    do {

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        // fetch pointer to transmit socket buffer

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        frame_data = ec_device_tx_data(master->device);

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        cur_data = frame_data + EC_FRAME_HEADER_SIZE;

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        follows_word = NULL;

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        more_datagrams_waiting = 0;

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        // fill current frame with datagrams

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

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

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            // does the current datagram fit in the frame?

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            datagram_size = EC_DATAGRAM_HEADER_SIZE + datagram->data_size

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                + EC_DATAGRAM_FOOTER_SIZE;

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            if (cur_data - frame_data + datagram_size > ETH_DATA_LEN) {

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                more_datagrams_waiting = 1;

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                break;

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            }

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            list_add_tail(&datagram->sent, &sent_datagrams);

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

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   485

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

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

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            // set "datagram following" flag in previous frame