1

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

     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; version 2 of the License.

    12

 *

    13

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

    14

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

    15

 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

    16

 *  GNU General Public License for more details.

    17

 *

    18

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

    19

 *  along 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

/**

    25

   \file

    26

   EtherCAT master methods.

    27

*/

    28

    29

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

    30

    31

#include <linux/module.h>

    32

#include <linux/kernel.h>

    33

#include <linux/string.h>

    34

#include <linux/slab.h>

    35

#include <linux/delay.h>

    36

    37

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

    38

#include "globals.h"

    39

#include "master.h"

    40

#include "slave.h"

    41

#include "types.h"

    42

#include "device.h"

    43

#include "command.h"

    44

#include "ethernet.h"

    45

    46

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

    47

    48

void ec_master_freerun(unsigned long);

    49

void ec_master_run_eoe(unsigned long);

    50

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

    51

void ec_master_process_watch_command(ec_master_t *);

    52

    53

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

    54

    55

/** \cond */

    56

    57

EC_SYSFS_READ_ATTR(slave_count);

    58

EC_SYSFS_READ_ATTR(mode);

    59

    60

static struct attribute *ec_def_attrs[] = {

    61

    &attr_slave_count,

    62

    &attr_mode,

    63

    NULL,

    64

};

    65

    66

static struct sysfs_ops ec_sysfs_ops = {

    67

    .show = &ec_show_master_attribute,

    68

    .store = NULL

    69

};

    70

    71

static struct kobj_type ktype_ec_master = {

    72

    .release = ec_master_clear,

    73

    .sysfs_ops = &ec_sysfs_ops,

    74

    .default_attrs = ec_def_attrs

    75

};

    76

    77

/** \endcond */

    78

    79

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

    80

    81

/**

    82

   Master constructor.

    83

   \return 0 in case of success, else < 0

    84

*/

    85

    86

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

    87

                   unsigned int index /**< master index */

    88

                   )

    89

{

    90

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

    91

    92

    master->index = index;

    93

    master->device = NULL;

    94

    master->reserved = 0;

    95

    96

    INIT_LIST_HEAD(&master->slaves);

    97

    INIT_LIST_HEAD(&master->command_queue);

    98

    INIT_LIST_HEAD(&master->domains);

    99

    INIT_LIST_HEAD(&master->eoe_slaves);

   100

   101

    // init kobject and add it to the hierarchy

   102

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

   103

    kobject_init(&master->kobj);

   104

    master->kobj.ktype = &ktype_ec_master;

   105

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

   106

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

   107

        kobject_put(&master->kobj);

   108

        return -1;

   109

    }

   110

   111

    // init freerun timer

   112

    init_timer(&master->freerun_timer);

   113

    master->freerun_timer.function = ec_master_freerun;

   114

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

   115

   116

    // init eoe timer

   117

    init_timer(&master->eoe_timer);

   118

    master->eoe_timer.function = ec_master_run_eoe;

   119

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

   120

   121

    ec_command_init(&master->simple_command);

   122

    ec_command_init(&master->watch_command);

   123

   124

    ec_master_reset(master);

   125

    return 0;

   126

}

   127

   128

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

   129

   130

/**

   131

   Master destructor.

   132

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

   133

   and frees the device.

   134

*/

   135

   136

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

   137

{

   138

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

   139

   140

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

   141

   142

    del_timer_sync(&master->eoe_timer);

   143

    del_timer_sync(&master->freerun_timer);

   144

   145

    ec_master_reset(master);

   146

   147

    if (master->device) {

   148

        ec_device_clear(master->device);

   149

        kfree(master->device);

   150

    }

   151

   152

    ec_command_clear(&master->simple_command);

   153

    ec_command_clear(&master->watch_command);

   154

   155

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

   156

}

   157

   158

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

   159

   160

/**

   161

   Resets the master.

   162

   Note: This function has to be called, everytime ec_master_release() is

   163

   called, to free the slave list, domains etc.

   164

*/

   165

   166

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

   167

{

   168

    ec_slave_t *slave, *next_s;

   169

    ec_command_t *command, *next_c;

   170

    ec_domain_t *domain, *next_d;

   171

    ec_eoe_t *eoe, *next_eoe;

   172

   173

    // stop EoE processing

   174

    del_timer_sync(&master->eoe_timer);

   175

   176

    // stop free-run mode

   177

    ec_master_freerun_stop(master);

   178

   179

    // remove all slaves

   180

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

   181

        list_del(&slave->list);

   182

        kobject_del(&slave->kobj);

   183

        kobject_put(&slave->kobj);

   184

    }

   185

    master->slave_count = 0;

   186

   187

    // empty command queue

   188

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

   189

        list_del_init(&command->queue);

   190

        command->state = EC_CMD_ERROR;

   191

    }

   192

   193

    // clear domains

   194

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

   195

        list_del(&domain->list);

   196

        kobject_del(&domain->kobj);

   197

        kobject_put(&domain->kobj);

   198

    }

   199

   200

    // clear EoE objects

   201

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

   202

        list_del(&eoe->list);

   203

        ec_eoe_clear(eoe);

   204

        kfree(eoe);

   205

    }

   206

   207

    master->command_index = 0;

   208

    master->debug_level = 0;

   209

    master->timeout = 500; // 500us

   210

   211

    master->slaves_responding = 0;

   212

    master->slave_states = EC_SLAVE_STATE_UNKNOWN;

   213

   214

    master->stats.timeouts = 0;

   215

    master->stats.delayed = 0;

   216

    master->stats.corrupted = 0;

   217

    master->stats.unmatched = 0;

   218

    master->stats.t_last = 0;

   219

   220

    master->mode = EC_MASTER_MODE_IDLE;

   221

   222

    master->request_cb = NULL;

   223

    master->release_cb = NULL;

   224

    master->cb_data = NULL;

   225

}

   226

   227

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

   228

   229

/**

   230

   Places a command in the command queue.

   231

*/

   232

   233

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

   234

                             ec_command_t *command /**< command */

   235

                             )

   236

{

   237

    ec_command_t *queued_command;

   238

   239

    // check, if the command is already queued

   240

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

   241

        if (queued_command == command) {

   242

            command->state = EC_CMD_QUEUED;

   243

            if (unlikely(master->debug_level))

   244

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

   245

            return;

   246

        }

   247

    }

   248

   249

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

   250

    command->state = EC_CMD_QUEUED;

   251

}

   252

   253

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

   254

   255

/**

   256

   Sends the commands in the queue.

   257

   \return 0 in case of success, else < 0

   258

*/

   259

   260

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

   261

{

   262

    ec_command_t *command;

   263

    size_t command_size;

   264

    uint8_t *frame_data, *cur_data;

   265

    void *follows_word;

   266

    cycles_t t_start, t_end;

   267

    unsigned int frame_count, more_commands_waiting;

   268

   269

    frame_count = 0;

   270

    t_start = get_cycles();

   271

   272

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

   273

        EC_DBG("ec_master_send_commands\n");

   274

   275

    do {

   276

        // fetch pointer to transmit socket buffer

   277

        frame_data = ec_device_tx_data(master->device);

   278

        cur_data = frame_data + EC_FRAME_HEADER_SIZE;

   279

        follows_word = NULL;

   280

        more_commands_waiting = 0;

   281

   282

        // fill current frame with commands

   283

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

   284

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

   285

   286

            // does the current command fit in the frame?

   287

            command_size = EC_COMMAND_HEADER_SIZE + command->data_size

   288

                + EC_COMMAND_FOOTER_SIZE;

   289

            if (cur_data - frame_data + command_size > ETH_DATA_LEN) {

   290

                more_commands_waiting = 1;

   291

                break;

   292

            }

   293

   294

            command->state = EC_CMD_SENT;

   295

            command->t_sent = t_start;

   296

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

   297

   298

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

   299

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

   300

   301

            // set "command following" flag in previous frame

   302

            if (follows_word)

   303

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

   304

   305

            // EtherCAT command header

   306

            EC_WRITE_U8 (cur_data,     command->type);

   307

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

   308

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

   309

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

   310

            EC_WRITE_U16(cur_data + 8, 0x0000);

   311

            follows_word = cur_data + 6;

   312

            cur_data += EC_COMMAND_HEADER_SIZE;

   313

   314

            // EtherCAT command data

   315

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

   316

            cur_data += command->data_size;

   317

   318

            // EtherCAT command footer

   319

            EC_WRITE_U16(cur_data, 0x0000); // reset working counter

   320

            cur_data += EC_COMMAND_FOOTER_SIZE;

   321

        }

   322

   323

        if (cur_data - frame_data == EC_FRAME_HEADER_SIZE) {

   324

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

   325

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

   326

            break;

   327

        }

   328

   329

        // EtherCAT frame header

   330

        EC_WRITE_U16(frame_data, ((cur_data - frame_data

   331

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

   332

   333

        // pad frame

   334

        while (cur_data - frame_data < ETH_ZLEN - ETH_HLEN)

   335

            EC_WRITE_U8(cur_data++, 0x00);

   336

   337

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

   338

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

   339

   340

        // send frame

   341

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

   342

        frame_count++;

   343

    }

   344

    while (more_commands_waiting);

   345

   346

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

   347

        t_end = get_cycles();

   348

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

   349

               frame_count, (u32) (t_end - t_start) * 1000 / cpu_khz);

   350

    }

   351

}

   352

   353

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

   354

   355

/**

   356

   Processes a received frame.

   357

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

   358

   \return 0 in case of success, else < 0

   359

*/

   360

   361

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

   362

                       const uint8_t *frame_data, /**< received data */

   363

                       size_t size /**< size of the received data */

   364

                       )

   365

{

   366

    size_t frame_size, data_size;

   367

    uint8_t command_type, command_index;

   368

    unsigned int cmd_follows, matched;

   369

    const uint8_t *cur_data;

   370

    ec_command_t *command;

   371

   372

    if (unlikely(size < EC_FRAME_HEADER_SIZE)) {

   373

        master->stats.corrupted++;

   374

        ec_master_output_stats(master);

   375

        return;

   376

    }

   377

   378

    cur_data = frame_data;

   379

   380

    // check length of entire frame

   381

    frame_size = EC_READ_U16(cur_data) & 0x07FF;

   382

    cur_data += EC_FRAME_HEADER_SIZE;

   383

   384

    if (unlikely(frame_size > size)) {

   385

        master->stats.corrupted++;

   386

        ec_master_output_stats(master);

   387

        return;

   388

    }

   389

   390

    cmd_follows = 1;

   391

    while (cmd_follows) {

   392

        // process command header

   393

        command_type  = EC_READ_U8 (cur_data);

   394

        command_index = EC_READ_U8 (cur_data + 1);

   395

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

   396

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

   397

        cur_data += EC_COMMAND_HEADER_SIZE;

   398

   399

        if (unlikely(cur_data - frame_data

   400

                     + data_size + EC_COMMAND_FOOTER_SIZE > size)) {

   401

            master->stats.corrupted++;

   402

            ec_master_output_stats(master);

   403

            return;

   404

        }

   405

   406

        // search for matching command in the queue

   407

        matched = 0;

   408

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

   409

            if (command->state == EC_CMD_SENT

   410

                && command->type == command_type

   411

                && command->index == command_index

   412

                && command->data_size == data_size) {

   413

                matched = 1;

   414

                break;

   415

            }

   416

        }

   417

   418

        // no matching command was found

   419

        if (!matched) {

   420

            master->stats.unmatched++;

   421

            ec_master_output_stats(master);

   422

            cur_data += data_size + EC_COMMAND_FOOTER_SIZE;

   423

            continue;

   424

        }

   425

   426

        // copy received data in the command memory

   427

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

   428

        cur_data += data_size;

   429

   430

        // set the command's working counter

   431

        command->working_counter = EC_READ_U16(cur_data);

   432

        cur_data += EC_COMMAND_FOOTER_SIZE;

   433

   434

        // dequeue the received command

   435

        command->state = EC_CMD_RECEIVED;

   436

        list_del_init(&command->queue);

   437

    }

   438

}

   439

   440

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

   441

   442

/**

   443

   Sends a single command and waits for its reception.

   444

   If the slave doesn't respond, the command is sent again.

   445

   \return 0 in case of success, else < 0

   446

*/

   447

   448

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

   449

                        ec_command_t *command /**< command */

   450

                        )

   451

{

   452

    unsigned int response_tries_left;

   453

   454

    response_tries_left = 10;

   455

   456

    while (1)

   457

    {

   458

        ec_master_queue_command(master, command);

   459

        ecrt_master_sync_io(master);

   460

   461

        if (command->state == EC_CMD_RECEIVED) {

   462

            if (likely(command->working_counter))

   463

                return 0;

   464

        }

   465

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

   466

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

   467

            return -1;

   468

        }

   469

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

   470

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

   471

            return -1;

   472

        }

   473

   474

        // no direct response, wait a little bit...

   475

        udelay(100);

   476

   477

        if (unlikely(--response_tries_left)) {

   478

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

   479

            return -1;

   480

        }

   481

    }

   482

}

   483

   484

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

   485

   486

/**