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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 "slave.h"

    50

#include "slave_config.h"

    51

#include "device.h"

    52

#include "datagram.h"

    53

#ifdef EC_EOE

    54

#include "ethernet.h"

    55

#endif

    56

#include "master.h"

    57

    58

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

    59

    60

void ec_master_destroy_slave_configs(ec_master_t *);

    61

void ec_master_destroy_domains(ec_master_t *);

    62

static int ec_master_idle_thread(ec_master_t *);

    63

static int ec_master_operation_thread(ec_master_t *);

    64

#ifdef EC_EOE

    65

void ec_master_eoe_run(unsigned long);

    66

#endif

    67

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

    68

ssize_t ec_store_master_attribute(struct kobject *, struct attribute *,

    69

                                  const char *, size_t);

    70

    71

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

    72

    73

/** \cond */

    74

    75

EC_SYSFS_READ_ATTR(info);

    76

EC_SYSFS_READ_WRITE_ATTR(debug_level);

    77

    78

static struct attribute *ec_def_attrs[] = {

    79

    &attr_info,

    80

    &attr_debug_level,

    81

    NULL,

    82

};

    83

    84

static struct sysfs_ops ec_sysfs_ops = {

    85

    .show = &ec_show_master_attribute,

    86

    .store = ec_store_master_attribute

    87

};

    88

    89

static struct kobj_type ktype_ec_master = {

    90

    .release = NULL,

    91

    .sysfs_ops = &ec_sysfs_ops,

    92

    .default_attrs = ec_def_attrs

    93

};

    94

    95

/** \endcond */

    96

    97

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

    98

    99

/**

   100

   Master constructor.

   101

   \return 0 in case of success, else < 0

   102

*/

   103

   104

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

   105

        struct kobject *module_kobj, /**< kobject of the master module */

   106

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

   107

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

   108

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

   109

        )

   110

{

   111

    unsigned int i;

   112

   113

    master->index = index;

   114

    master->reserved = 0;

   115

   116

    master->main_mac = main_mac;

   117

    master->backup_mac = backup_mac;

   118

    init_MUTEX(&master->device_sem);

   119

   120

    master->mode = EC_MASTER_MODE_ORPHANED;

   121

    master->injection_seq_fsm = 0;

   122

    master->injection_seq_rt = 0;

   123

   124

    INIT_LIST_HEAD(&master->slaves);

   125

    master->slave_count = 0;

   126

   127

    INIT_LIST_HEAD(&master->configs);

   128

   129

    master->scan_state = EC_REQUEST_SUCCESS;

   130

    master->allow_scan = 1;

   131

    init_MUTEX(&master->scan_sem);

   132

    init_waitqueue_head(&master->scan_queue);

   133

   134

    master->config_state = EC_REQUEST_SUCCESS;

   135

    master->allow_config = 1;

   136

    init_MUTEX(&master->config_sem);

   137

    init_waitqueue_head(&master->config_queue);

   138

   139

    INIT_LIST_HEAD(&master->datagram_queue);

   140

    master->datagram_index = 0;

   141

   142

    INIT_LIST_HEAD(&master->domains);

   143

   144

    master->debug_level = 0;

   145

    master->stats.timeouts = 0;

   146

    master->stats.corrupted = 0;

   147

    master->stats.unmatched = 0;

   148

    master->stats.output_jiffies = 0;

   149

    master->pdo_slaves_offline = 0; // assume all Pdo slaves online

   150

    master->frames_timed_out = 0;

   151

   152

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

   153

        master->idle_cycle_times[i] = 0;

   154

#ifdef EC_EOE

   155

        master->eoe_cycle_times[i] = 0;

   156

#endif

   157

    }

   158

    master->idle_cycle_time_pos = 0;

   159

#ifdef EC_EOE

   160

    master->eoe_cycle_time_pos = 0;

   161

   162

    init_timer(&master->eoe_timer);

   163

    master->eoe_timer.function = ec_master_eoe_run;

   164

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

   165

    master->eoe_running = 0;

   166

    INIT_LIST_HEAD(&master->eoe_handlers);

   167

#endif

   168

   169

    master->internal_lock = SPIN_LOCK_UNLOCKED;

   170

    master->request_cb = NULL;

   171

    master->release_cb = NULL;

   172

    master->cb_data = NULL;

   173

   174

    INIT_LIST_HEAD(&master->sii_requests);

   175

    init_MUTEX(&master->sii_sem);

   176

    init_waitqueue_head(&master->sii_queue);

   177

   178

    INIT_LIST_HEAD(&master->slave_sdo_requests);

   179

    init_MUTEX(&master->sdo_sem);

   180

    init_waitqueue_head(&master->sdo_queue);

   181

   182

    // init devices

   183

    if (ec_device_init(&master->main_device, master))

   184

        goto out_return;

   185

   186

    if (ec_device_init(&master->backup_device, master))

   187

        goto out_clear_main;

   188

   189

    // init state machine datagram

   190

    ec_datagram_init(&master->fsm_datagram);

   191

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

   192

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

   193

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

   194

        goto out_clear_backup;

   195

    }

   196

   197

    // create state machine object

   198

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

   199

   200

    // init kobject and add it to the hierarchy

   201

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

   202

    kobject_init(&master->kobj);

   203

    master->kobj.ktype = &ktype_ec_master;

   204

    master->kobj.parent = module_kobj;

   205

   206

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

   207

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

   208

        kobject_put(&master->kobj);

   209

        goto out_clear_fsm;

   210

    }

   211

   212

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

   213

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

   214

        kobject_put(&master->kobj);

   215

        goto out_clear_fsm;

   216

    }

   217

   218

    return 0;

   219

   220

out_clear_fsm:

   221

    ec_fsm_master_clear(&master->fsm);

   222

out_clear_backup:

   223

    ec_device_clear(&master->backup_device);

   224

out_clear_main:

   225

    ec_device_clear(&master->main_device);

   226

out_return:

   227

    return -1;

   228

}

   229

   230

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

   231

   232

/**

   233

   Clear and free master.

   234

   This method is called by the kobject,

   235

   once there are no more references to it.

   236

*/

   237

   238

void ec_master_clear(

   239

        ec_master_t *master /**< EtherCAT master */

   240

        )

   241

{

   242

#ifdef EC_EOE

   243

    ec_master_clear_eoe_handlers(master);

   244

#endif

   245

    ec_master_destroy_slave_configs(master);

   246

    ec_master_destroy_slaves(master);

   247

    ec_master_destroy_domains(master);

   248

    ec_fsm_master_clear(&master->fsm);

   249

    ec_datagram_clear(&master->fsm_datagram);

   250

    ec_device_clear(&master->backup_device);

   251

    ec_device_clear(&master->main_device);

   252

   253

    // destroy self

   254

    kobject_del(&master->kobj);

   255

    kobject_put(&master->kobj);

   256

}

   257

   258

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

   259

   260

#ifdef EC_EOE

   261

/** Clear and free all EoE handlers.

   262

 */

   263

void ec_master_clear_eoe_handlers(

   264

        ec_master_t *master /**< EtherCAT master */

   265

        )

   266

{

   267

    ec_eoe_t *eoe, *next;

   268

   269

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

   270

        list_del(&eoe->list);

   271

        ec_eoe_clear(eoe);

   272

        kfree(eoe);

   273

    }

   274

}

   275

#endif

   276

   277

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

   278

   279

/** Destroy all slave configurations.

   280

 */

   281

void ec_master_destroy_slave_configs(ec_master_t *master)

   282

{

   283

    ec_slave_config_t *sc, *next;

   284

   285

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

   286

        list_del(&sc->list);

   287

        ec_slave_config_destroy(sc);

   288

    }

   289

}

   290

   291

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

   292

   293

/** Destroy all slaves.

   294

 */

   295

void ec_master_destroy_slaves(ec_master_t *master)

   296

{

   297

    ec_slave_t *slave, *next;

   298

   299

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

   300

        list_del(&slave->list);

   301

        ec_slave_destroy(slave);

   302

    }

   303

   304

    master->slave_count = 0;

   305

}

   306

   307

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

   308

   309

/**

   310

   Destroy all domains.

   311

*/

   312

   313

void ec_master_destroy_domains(ec_master_t *master)

   314

{

   315

    ec_domain_t *domain, *next;

   316

   317

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

   318

        list_del(&domain->list);

   319

        ec_domain_destroy(domain);

   320

    }

   321

}

   322

   323

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

   324

   325

/**

   326

   Internal locking callback.

   327

*/

   328

   329

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

   330

{

   331

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

   332

    return 0;

   333

}

   334

   335

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

   336

   337

/**

   338

   Internal unlocking callback.

   339

*/

   340

   341

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

   342

{

   343

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

   344

}

   345

   346

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

   347

   348

/**

   349

 * Starts the master thread.

   350

 */

   351

   352

int ec_master_thread_start(

   353

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

   354

        int (*thread_func)(ec_master_t *) /**< thread function to start */

   355

        )

   356

{

   357

    init_completion(&master->thread_exit);

   358

   359

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

   360

    if (!(master->thread_id = kernel_thread((int (*)(void *)) thread_func,

   361

                    master, CLONE_KERNEL)))

   362

        return -1;

   363

   364

    return 0;

   365

}

   366

   367

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

   368

   369

/**

   370

 * Stops the master thread.

   371

 */

   372

   373

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

   374

{

   375

    if (!master->thread_id) {

   376

        EC_WARN("ec_master_thread_stop: Already finished!\n");

   377

        return;

   378

    }

   379

   380

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

   381

    wait_for_completion(&master->thread_exit);

   382

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

   383

   384

    if (master->fsm_datagram.state != EC_DATAGRAM_SENT) return;

   385

   386

    // wait for FSM datagram

   387

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

   388

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

   389

        schedule();

   390

}

   391

   392

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

   393

   394

/**

   395

 * Transition function from ORPHANED to IDLE mode.

   396

 */

   397

   398

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

   399

{

   400

    master->request_cb = ec_master_request_cb;

   401

    master->release_cb = ec_master_release_cb;

   402

    master->cb_data = master;

   403

   404

    master->mode = EC_MASTER_MODE_IDLE;

   405

    if (ec_master_thread_start(master, ec_master_idle_thread)) {

   406

        master->mode = EC_MASTER_MODE_ORPHANED;

   407

        return -1;

   408

    }

   409

   410

    return 0;

   411

}

   412

   413

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

   414

   415

/**

   416

 * Transition function from IDLE to ORPHANED mode.

   417

 */

   418

   419

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

   420

{

   421

    master->mode = EC_MASTER_MODE_ORPHANED;

   422

   423

#ifdef EC_EOE

   424

    ec_master_eoe_stop(master);

   425

#endif

   426

    ec_master_thread_stop(master);

   427

    ec_master_destroy_slaves(master);

   428

}

   429

   430

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

   431

   432

/**

   433

 * Transition function from IDLE to OPERATION mode.

   434

 */

   435

   436

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

   437

{

   438

    ec_slave_t *slave;

   439

#ifdef EC_EOE

   440

    ec_eoe_t *eoe;

   441

#endif

   442

   443

    down(&master->config_sem);

   444

    master->allow_config = 0; // temporarily disable slave configuration

   445

    up(&master->config_sem);

   446

   447

    // wait for slave configuration to complete

   448

    if (wait_event_interruptible(master->config_queue,

   449

                master->config_state != EC_REQUEST_BUSY)) {

   450

        EC_INFO("Finishing slave configuration interrupted by signal.\n");

   451

        goto out_allow;

   452

    }

   453

   454

    if (master->debug_level)

   455

        EC_DBG("Waiting for pending slave configuration returned.\n");

   456

   457

    if (master->debug_level)

   458

        EC_DBG("Disable scanning, current scan state: %u\n",

   459

                master->scan_state);

   460

    down(&master->scan_sem);

   461

    master->allow_scan = 0; // 'lock' the slave list

   462

    up(&master->scan_sem);

   463

   464

    if (master->scan_state == EC_REQUEST_BUSY) {

   465

        // wait for slave scan to complete

   466

        if (wait_event_interruptible(master->scan_queue,

   467

                    master->scan_state != EC_REQUEST_BUSY)) {

   468

            EC_INFO("Waiting for slave scan interrupted by signal.\n");

   469

            goto out_allow;

   470

        }

   471

    }

   472

   473

    if (master->debug_level)

   474

        EC_DBG("Waiting for pending slave scan returned.\n");

   475

   476

    // set states for all slaves

   477

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

   478

        ec_slave_request_state(slave, EC_SLAVE_STATE_PREOP);

   479

    }

   480

#ifdef EC_EOE

   481

    // ... but set EoE slaves to OP

   482

    list_for_each_entry(eoe, &master->eoe_handlers, list) {

   483

        if (ec_eoe_is_open(eoe))

   484

            ec_slave_request_state(eoe->slave, EC_SLAVE_STATE_OP);