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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

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 *  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

                   const ec_device_id_t *main_id, /**< ID of main device */

   106

                   const ec_device_id_t *backup_id, /**< ID of main device */

   107

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

   108

                   )

   109

{

   110

    ec_eoe_t *eoe, *next_eoe;

   111

    unsigned int i;

   112

   113

    atomic_set(&master->available, 1);

   114

    master->index = index;

   115

   116

    master->device = NULL;

   117

    master->main_device_id = main_id;

   118

    master->backup_device_id = backup_id;

   119

    init_MUTEX(&master->device_sem);

   120

   121

    master->mode = EC_MASTER_MODE_ORPHANED;

   122

   123

    INIT_LIST_HEAD(&master->slaves);

   124

    master->slave_count = 0;

   125

   126

    INIT_LIST_HEAD(&master->datagram_queue);

   127

    master->datagram_index = 0;

   128

   129

    INIT_LIST_HEAD(&master->domains);

   130

    master->debug_level = 0;

   131

   132

    master->stats.timeouts = 0;

   133

    master->stats.corrupted = 0;

   134

    master->stats.skipped = 0;

   135

    master->stats.unmatched = 0;

   136

    master->stats.output_jiffies = 0;

   137

   138

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

   139

        master->idle_cycle_times[i] = 0;

   140

        master->eoe_cycle_times[i] = 0;

   141

    }

   142

    master->idle_cycle_time_pos = 0;

   143

    master->eoe_cycle_time_pos = 0;

   144

   145

    init_timer(&master->eoe_timer);

   146

    master->eoe_timer.function = ec_master_eoe_run;

   147

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

   148

    master->eoe_running = 0;

   149

    master->eoe_checked = 0;

   150

    INIT_LIST_HEAD(&master->eoe_handlers);

   151

   152

    master->internal_lock = SPIN_LOCK_UNLOCKED;

   153

    master->request_cb = NULL;

   154

    master->release_cb = NULL;

   155

    master->cb_data = NULL;

   156

   157

    master->eeprom_write_enable = 0;

   158

   159

    master->sdo_request = NULL;

   160

    master->sdo_seq_user = 0;

   161

    master->sdo_seq_master = 0;

   162

    init_MUTEX(&master->sdo_sem);

   163

    init_timer(&master->sdo_timer);

   164

    master->sdo_timer.function = ec_master_check_sdo;

   165

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

   166

    init_completion(&master->sdo_complete);

   167

   168

    // create EoE handlers

   169

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

   170

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

   171

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

   172

            goto out_clear_eoe;

   173

        }

   174

        if (ec_eoe_init(eoe)) {

   175

            kfree(eoe);

   176

            goto out_clear_eoe;

   177

        }

   178

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

   179

    }

   180

   181

    // init state machine datagram

   182

    ec_datagram_init(&master->fsm_datagram);

   183

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

   184

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

   185

        goto out_clear_eoe;

   186

    }

   187

   188

    // create state machine object

   189

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

   190

   191

    // init kobject and add it to the hierarchy

   192

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

   193

    kobject_init(&master->kobj);

   194

    master->kobj.ktype = &ktype_ec_master;

   195

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

   196

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

   197

        kobject_put(&master->kobj);

   198

        return -1;

   199

    }

   200

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

   201

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

   202

        kobject_put(&master->kobj);

   203

        return -1;

   204

    }

   205

   206

    return 0;

   207

   208

out_clear_eoe:

   209

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

   210

        list_del(&eoe->list);

   211

        ec_eoe_clear(eoe);

   212

        kfree(eoe);

   213

    }

   214

    return -1;

   215

}

   216

   217

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

   218

   219

/**

   220

   Master destructor.

   221

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

   222

*/

   223

   224

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

   225

{

   226

    ec_master_destroy_slaves(master);

   227

    ec_master_destroy_domains(master);

   228

   229

    // destroy self

   230

    kobject_del(&master->kobj);

   231

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

   232

}

   233

   234

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

   235

   236

/**

   237

   Clear and free master.

   238

   This method is called by the kobject,

   239

   once there are no more references to it.

   240

*/

   241

   242

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

   243

{

   244

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

   245

    ec_eoe_t *eoe, *next_eoe;

   246

    ec_datagram_t *datagram, *next_datagram;

   247

   248

    // dequeue all datagrams

   249

    list_for_each_entry_safe(datagram, next_datagram,

   250

                             &master->datagram_queue, queue) {

   251

        datagram->state = EC_DATAGRAM_ERROR;

   252

        list_del_init(&datagram->queue);

   253

    }

   254

   255

    ec_fsm_master_clear(&master->fsm);

   256

    ec_datagram_clear(&master->fsm_datagram);

   257

   258

    // clear EoE objects

   259

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

   260

        list_del(&eoe->list);

   261

        ec_eoe_clear(eoe);

   262

        kfree(eoe);

   263

    }

   264

   265

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

   266

   267

    kfree(master);

   268

}

   269

   270

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

   271

   272

/**

   273

   Destroy all slaves.

   274

*/

   275

   276

void ec_master_destroy_slaves(ec_master_t *master)

   277

{

   278

    ec_slave_t *slave, *next_slave;

   279

   280

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

   281

        list_del(&slave->list);

   282

        ec_slave_destroy(slave);

   283

    }

   284

   285

    master->slave_count = 0;

   286

}

   287

   288

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

   289

   290

/**

   291

   Destroy all domains.

   292

*/

   293

   294

void ec_master_destroy_domains(ec_master_t *master)

   295

{

   296

    ec_domain_t *domain, *next_d;

   297

   298

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

   299

        list_del(&domain->list);

   300

        ec_domain_destroy(domain);

   301

    }

   302

}

   303

   304

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

   305

   306

/**

   307

   Flushes the SDO request queue.

   308

*/

   309

   310

void ec_master_flush_sdo_requests(ec_master_t *master)

   311

{

   312

    del_timer_sync(&master->sdo_timer);

   313

    complete(&master->sdo_complete);

   314

    master->sdo_request = NULL;

   315

    master->sdo_seq_user = 0;

   316

    master->sdo_seq_master = 0;

   317

}

   318

   319

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

   320

   321

/**

   322

   Internal locking callback.

   323

*/

   324

   325

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

   326

{

   327

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

   328

    return 0;

   329

}

   330

   331

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

   332

   333

/**

   334

   Internal unlocking callback.

   335

*/

   336

   337

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

   338

{

   339

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

   340

}

   341

   342

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

   343

   344

/**

   345

 * Starts the master thread.

   346

*/

   347

   348

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

   349

{

   350

    init_completion(&master->thread_exit);

   351

   352

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

   353

    if (!(master->thread_id =

   354

                kernel_thread(ec_master_thread, master, CLONE_KERNEL)))

   355

        return -1;

   356

   357

    return 0;

   358

}

   359

   360

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

   361

   362

/**

   363

 * Stops the master thread.

   364

*/

   365

   366

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

   367

{

   368

    if (master->thread_id) {

   369

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

   370

        wait_for_completion(&master->thread_exit);

   371

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

   372

    }    

   373

}

   374

   375

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

   376

   377

/**

   378

 * Transition function from ORPHANED to IDLE mode.

   379

*/

   380

   381

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

   382

{

   383

    master->request_cb = ec_master_request_cb;

   384

    master->release_cb = ec_master_release_cb;

   385

    master->cb_data = master;

   386

   387

    master->mode = EC_MASTER_MODE_IDLE;

   388

    if (ec_master_thread_start(master)) {

   389

        master->mode = EC_MASTER_MODE_ORPHANED;

   390

        return -1;

   391

    }

   392

   393

    return 0;

   394

}

   395

   396

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

   397

   398

/**

   399

 * Transition function from IDLE to ORPHANED mode.

   400

*/

   401

   402

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

   403

{

   404

    master->mode = EC_MASTER_MODE_ORPHANED;

   405

   406

    ec_master_eoe_stop(master);

   407

    ec_master_thread_stop(master);

   408

    ec_master_flush_sdo_requests(master);

   409

}

   410

   411

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

   412

   413

/**

   414

 * Transition function from IDLE to OPERATION mode.

   415

*/

   416

   417

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

   418

{

   419

    ec_slave_t *slave;

   420

   421

    ec_master_eoe_stop(master); // stop EoE timer

   422

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

   423

    ec_master_thread_stop(master);

   424

   425

    master->mode = EC_MASTER_MODE_OPERATION;

   426

   427

    // wait for FSM datagram

   428

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

   429

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

   430

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

   431

        ecrt_master_receive(master);

   432

    }

   433

   434

    // finish running master FSM

   435

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

   436

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

   437

            ec_master_sync_io(master);

   438

        }

   439

    }

   440

   441

    if (master->debug_level) {

   442

        if (ec_master_measure_bus_time(master)) {

   443

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

   444

            goto out_idle;

   445

        }

   446

    }

   447

   448

    // set initial slave states

   449

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

   450

        if (ec_slave_is_coupler(slave)) {

   451

            ec_slave_request_state(slave, EC_SLAVE_STATE_OP);

   452

        }

   453

        else {

   454

            ec_slave_request_state(slave, EC_SLAVE_STATE_PREOP);

   455

        }

   456

    }

   457

   458

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

   459

   460

    return 0;

   461

   462

 out_idle:

   463

    master->mode = EC_MASTER_MODE_IDLE;

   464

    if (ec_master_thread_start(master)) {

   465

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

   466

    }

   467

    return -1;

   468

}

   469

   470

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

   471

   472

/**

   473

 * Transition function from OPERATION to IDLE mode.

   474

*/

   475

   476

void ec_master_leave_operation_mode(ec_master_t *master

   477

                                    /**< EtherCAT master */)

   478

{

   479

    ec_slave_t *slave;

   480

    ec_fsm_master_t *fsm = &master->fsm;

   481

    ec_fsm_slave_t fsm_slave;

   482

   483

    ec_master_eoe_stop(master); // stop EoE timer

   484

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

   485

   486

    // wait for FSM datagram

   487

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