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

     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.

    31

 *

    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 "device.h"

    52

#include "datagram.h"

    53

#include "ethernet.h"

    54

    55

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

    56

    57

void ec_master_clear(struct kobject *);

    58

void ec_master_destroy_domains(ec_master_t *);

    59

void ec_master_sync_io(ec_master_t *);

    60

static int ec_master_thread(void *);

    61

void ec_master_eoe_run(unsigned long);

    62

void ec_master_check_sdo(unsigned long);

    63

int ec_master_measure_bus_time(ec_master_t *);

    64

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

    65

ssize_t ec_store_master_attribute(struct kobject *, struct attribute *,

    66

                                  const char *, size_t);

    67

    68

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

    69

    70

/** \cond */

    71

    72

EC_SYSFS_READ_ATTR(info);

    73

EC_SYSFS_READ_WRITE_ATTR(eeprom_write_enable);

    74

EC_SYSFS_READ_WRITE_ATTR(debug_level);

    75

    76

static struct attribute *ec_def_attrs[] = {

    77

    &attr_info,

    78

    &attr_eeprom_write_enable,

    79

    &attr_debug_level,

    80

    NULL,

    81

};

    82

    83

static struct sysfs_ops ec_sysfs_ops = {

    84

    .show = &ec_show_master_attribute,

    85

    .store = ec_store_master_attribute

    86

};

    87

    88

static struct kobj_type ktype_ec_master = {

    89

    .release = ec_master_clear,

    90

    .sysfs_ops = &ec_sysfs_ops,

    91

    .default_attrs = ec_def_attrs

    92

};

    93

    94

/** \endcond */

    95

    96

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

    97

    98

/**

    99

   Master constructor.

   100

   \return 0 in case of success, else < 0

   101

*/

   102

   103

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

   104

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

   105

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

   106

                   )

   107

{

   108

    ec_eoe_t *eoe, *next_eoe;

   109

    unsigned int i;

   110

   111

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

   112

   113

    atomic_set(&master->available, 1);

   114

    master->index = index;

   115

   116

    master->device = NULL;

   117

    init_MUTEX(&master->device_sem);

   118

   119

    master->mode = EC_MASTER_MODE_ORPHANED;

   120

   121

    INIT_LIST_HEAD(&master->slaves);

   122

    master->slave_count = 0;

   123

   124

    INIT_LIST_HEAD(&master->datagram_queue);

   125

    master->datagram_index = 0;

   126

   127

    INIT_LIST_HEAD(&master->domains);

   128

    master->debug_level = 0;

   129

   130

    master->stats.timeouts = 0;

   131

    master->stats.corrupted = 0;

   132

    master->stats.skipped = 0;

   133

    master->stats.unmatched = 0;

   134

    master->stats.output_jiffies = 0;

   135

   136

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

   137

        master->idle_cycle_times[i] = 0;

   138

        master->eoe_cycle_times[i] = 0;

   139

    }

   140

    master->idle_cycle_time_pos = 0;

   141

    master->eoe_cycle_time_pos = 0;

   142

   143

    init_timer(&master->eoe_timer);

   144

    master->eoe_timer.function = ec_master_eoe_run;

   145

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

   146

    master->eoe_running = 0;

   147

    master->eoe_checked = 0;

   148

    INIT_LIST_HEAD(&master->eoe_handlers);

   149

   150

    master->internal_lock = SPIN_LOCK_UNLOCKED;

   151

    master->request_cb = NULL;

   152

    master->release_cb = NULL;

   153

    master->cb_data = NULL;

   154

   155

    master->eeprom_write_enable = 0;

   156

   157

    master->sdo_request = NULL;

   158

    master->sdo_seq_user = 0;

   159

    master->sdo_seq_master = 0;

   160

    init_MUTEX(&master->sdo_sem);

   161

    init_timer(&master->sdo_timer);

   162

    master->sdo_timer.function = ec_master_check_sdo;

   163

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

   164

    init_completion(&master->sdo_complete);

   165

   166

    // create EoE handlers

   167

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

   168

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

   169

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

   170

            goto out_clear_eoe;

   171

        }

   172

        if (ec_eoe_init(eoe)) {

   173

            kfree(eoe);

   174

            goto out_clear_eoe;

   175

        }

   176

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

   177

    }

   178

   179

    // init state machine datagram

   180

    ec_datagram_init(&master->fsm_datagram);

   181

    if (ec_datagram_prealloc(&master->fsm_datagram, EC_MAX_DATA_SIZE)) {

   182

        EC_ERR("Failed to allocate FSM datagram.\n");

   183

        goto out_clear_eoe;

   184

    }

   185

   186

    // create state machine object

   187

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

   188

   189

    // init kobject and add it to the hierarchy

   190

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

   191

    kobject_init(&master->kobj);

   192

    master->kobj.ktype = &ktype_ec_master;

   193

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

   194

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

   195

        kobject_put(&master->kobj);

   196

        return -1;

   197

    }

   198

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

   199

        EC_ERR("Failed to add master kobj.\n");

   200

        kobject_put(&master->kobj);

   201

        return -1;

   202

    }

   203

   204

    return 0;

   205

   206

out_clear_eoe:

   207

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

   208

        list_del(&eoe->list);

   209

        ec_eoe_clear(eoe);

   210

        kfree(eoe);

   211

    }

   212

    return -1;

   213

}

   214

   215

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

   216

   217

/**

   218

   Master destructor.

   219

   Clears the kobj-hierarchy bottom up and frees the master.

   220

*/

   221

   222

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

   223

{

   224

    ec_master_destroy_slaves(master);

   225

    ec_master_destroy_domains(master);

   226

   227

    // destroy self

   228

    kobject_del(&master->kobj);

   229

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

   230

}

   231

   232

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

   233

   234

/**

   235

   Clear and free master.

   236

   This method is called by the kobject,

   237

   once there are no more references to it.

   238

*/

   239

   240

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

   241

{

   242

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

   243

    ec_eoe_t *eoe, *next_eoe;

   244

    ec_datagram_t *datagram, *next_datagram;

   245

   246

    // dequeue all datagrams

   247

    list_for_each_entry_safe(datagram, next_datagram,

   248

                             &master->datagram_queue, queue) {

   249

        datagram->state = EC_DATAGRAM_ERROR;

   250

        list_del_init(&datagram->queue);

   251

    }

   252

   253

    ec_fsm_master_clear(&master->fsm);

   254

    ec_datagram_clear(&master->fsm_datagram);

   255

   256

    // clear EoE objects

   257

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

   258

        list_del(&eoe->list);

   259

        ec_eoe_clear(eoe);

   260

        kfree(eoe);

   261

    }

   262

   263

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

   264

   265

    kfree(master);

   266

}

   267

   268

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

   269

   270

/**

   271

   Destroy all slaves.

   272

*/

   273

   274

void ec_master_destroy_slaves(ec_master_t *master)

   275

{

   276

    ec_slave_t *slave, *next_slave;

   277

   278

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

   279

        list_del(&slave->list);

   280

        ec_slave_destroy(slave);

   281

    }

   282

   283

    master->slave_count = 0;

   284

}

   285

   286

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

   287

   288

/**

   289

   Destroy all domains.

   290

*/

   291

   292

void ec_master_destroy_domains(ec_master_t *master)

   293

{

   294

    ec_domain_t *domain, *next_d;

   295

   296

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

   297

        list_del(&domain->list);

   298

        ec_domain_destroy(domain);

   299

    }

   300

}

   301

   302

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

   303

   304

/**

   305

   Flushes the SDO request queue.

   306

*/

   307

   308

void ec_master_flush_sdo_requests(ec_master_t *master)

   309

{

   310

    del_timer_sync(&master->sdo_timer);

   311

    complete(&master->sdo_complete);

   312

    master->sdo_request = NULL;

   313

    master->sdo_seq_user = 0;

   314

    master->sdo_seq_master = 0;

   315

}

   316

   317

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

   318

   319

/**

   320

   Internal locking callback.

   321

*/

   322

   323

int ec_master_request_cb(void *master /**< callback data */)

   324

{

   325

    spin_lock(&((ec_master_t *) master)->internal_lock);

   326

    return 0;

   327

}

   328

   329

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

   330

   331

/**

   332

   Internal unlocking callback.

   333

*/

   334

   335

void ec_master_release_cb(void *master /**< callback data */)

   336

{

   337

    spin_unlock(&((ec_master_t *) master)->internal_lock);

   338

}

   339

   340

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

   341

   342

/**

   343

 * Starts the master thread.

   344

*/

   345

   346

int ec_master_thread_start(ec_master_t *master /**< EtherCAT master */)

   347

{

   348

    init_completion(&master->thread_exit);

   349

   350

    EC_INFO("Starting master thread.\n");

   351

    if (!(master->thread_id =

   352

                kernel_thread(ec_master_thread, master, CLONE_KERNEL)))

   353

        return -1;

   354

   355

    return 0;

   356

}

   357

   358

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

   359

   360

/**

   361

 * Stops the master thread.

   362

*/

   363

   364

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

   365

{

   366

    if (master->thread_id) {

   367

        kill_proc(master->thread_id, SIGTERM, 1);

   368

        wait_for_completion(&master->thread_exit);

   369

        EC_INFO("Master thread exited.\n");

   370

    }    

   371

}

   372

   373

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

   374

   375

/**

   376

 * Transition function from ORPHANED to IDLE mode.

   377

*/

   378

   379

int ec_master_enter_idle_mode(ec_master_t *master /**< EtherCAT master */)

   380

{

   381

    master->request_cb = ec_master_request_cb;

   382

    master->release_cb = ec_master_release_cb;

   383

    master->cb_data = master;

   384

   385

    master->mode = EC_MASTER_MODE_IDLE;

   386

    if (ec_master_thread_start(master)) {

   387

        master->mode = EC_MASTER_MODE_ORPHANED;

   388

        return -1;

   389

    }

   390

   391

    return 0;

   392

}

   393

   394

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

   395

   396

/**

   397

 * Transition function from IDLE to ORPHANED mode.

   398

*/

   399

   400

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

   401

{

   402

    master->mode = EC_MASTER_MODE_ORPHANED;

   403

   404

    ec_master_eoe_stop(master);

   405

    ec_master_thread_stop(master);

   406

    ec_master_flush_sdo_requests(master);

   407

}

   408

   409

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

   410

   411

/**

   412

 * Transition function from IDLE to OPERATION mode.

   413

*/

   414

   415

int ec_master_enter_operation_mode(ec_master_t *master /**< EtherCAT master */)

   416

{

   417

    ec_slave_t *slave;

   418

   419

    ec_master_eoe_stop(master); // stop EoE timer

   420

    master->eoe_checked = 1; // prevent from starting again by FSM

   421

    ec_master_thread_stop(master);

   422

   423

    master->mode = EC_MASTER_MODE_OPERATION;

   424

   425

    // wait for FSM datagram

   426

    if (master->fsm_datagram.state == EC_DATAGRAM_SENT) {

   427

        while (get_cycles() - master->fsm_datagram.cycles_sent

   428

               < (cycles_t) EC_IO_TIMEOUT /* us */ * (cpu_khz / 1000)) {}

   429

        ecrt_master_receive(master);

   430

    }

   431

   432

    // finish running master FSM

   433

    if (ec_fsm_master_running(&master->fsm)) {

   434

        while (ec_fsm_master_exec(&master->fsm)) {

   435

            ec_master_sync_io(master);

   436

        }

   437

    }

   438

   439

    if (master->debug_level) {

   440

        if (ec_master_measure_bus_time(master)) {

   441

            EC_ERR("Bus time measuring failed!\n");

   442

            goto out_idle;

   443

        }

   444

    }

   445

   446

    // set initial slave states

   447

    list_for_each_entry(slave, &master->slaves, list) {

   448

        if (ec_slave_is_coupler(slave)) {

   449

            ec_slave_request_state(slave, EC_SLAVE_STATE_OP);

   450

        }

   451

        else {

   452

            ec_slave_request_state(slave, EC_SLAVE_STATE_PREOP);

   453

        }

   454

    }

   455

   456

    master->eoe_checked = 0; // allow starting EoE again

   457

   458

    return 0;

   459

   460

 out_idle:

   461

    master->mode = EC_MASTER_MODE_IDLE;

   462

    if (ec_master_thread_start(master)) {

   463

        EC_WARN("Failed to start master thread again!\n");

   464

    }

   465

    return -1;

   466

}

   467

   468

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

   469

   470

/**

   471

 * Transition function from OPERATION to IDLE mode.

   472

*/

   473

   474

void ec_master_leave_operation_mode(ec_master_t *master

   475

                                    /**< EtherCAT master */)

   476

{

   477

    ec_slave_t *slave;

   478

    ec_fsm_master_t *fsm = &master->fsm;

   479

    ec_fsm_slave_t fsm_slave;

   480

   481

    ec_master_eoe_stop(master); // stop EoE timer

   482

    master->eoe_checked = 1; // prevent from starting again by FSM

   483

   484

    // wait for FSM datagram

   485

    if (master->fsm_datagram.state == EC_DATAGRAM_SENT) {

   486

        // active waiting

   487

        while (get_cycles() - master->fsm_datagram.cycles_sent

   488

               < (cycles_t) EC_IO_TIMEOUT /* us */ * (cpu_khz / 1000));

   489

        ecrt_master_receive(master);