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

     2

 *

     3

 *  $Id$

     4

 *

     5

 *  Copyright (C) 2006-2012  Florian Pose, Ingenieurgemeinschaft IgH

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 *

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 *  This file is part of the IgH EtherCAT Master.

     8

 *

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

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 *  modify it under the terms of the GNU General Public License version 2, as

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 *  published by the Free Software Foundation.

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 *

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

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

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 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General

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 *  Public License for more details.

    17

 *

    18

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

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 *  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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 *

    22

 *  ---

    23

 *

    24

 *  The license mentioned above concerns the source code only. Using the

    25

 *  EtherCAT technology and brand is only permitted in compliance with the

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 *  industrial property and similar rights of Beckhoff Automation GmbH.

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 *

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 *  vim: expandtab

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 *

    30

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

    31

    32

/**

    33

   \file

    34

   EtherCAT master methods.

    35

*/

    36

    37

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

    38

    39

#include <linux/module.h>

    40

#include <linux/kernel.h>

    41

#include <linux/string.h>

    42

#include <linux/slab.h>

    43

#include <linux/delay.h>

    44

#include <linux/device.h>

    45

#include <linux/version.h>

    46

#include <linux/hrtimer.h>

    47

#include "globals.h"

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#include "slave.h"

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#include "slave_config.h"

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#include "device.h"

    51

#include "datagram.h"

    52

#ifdef EC_EOE

    53

#include "ethernet.h"

    54

#endif

    55

#include "master.h"

    56

    57

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

    58

    59

/** Set to 1 to enable external datagram injection debugging.

    60

 */

    61

#define DEBUG_INJECT 0

    62

    63

#ifdef EC_HAVE_CYCLES

    64

    65

/** Frame timeout in cycles.

    66

 */

    67

static cycles_t timeout_cycles;

    68

    69

/** Timeout for external datagram injection [cycles].

    70

 */

    71

static cycles_t ext_injection_timeout_cycles;

    72

    73

#else

    74

    75

/** Frame timeout in jiffies.

    76

 */

    77

static unsigned long timeout_jiffies;

    78

    79

/** Timeout for external datagram injection [jiffies].

    80

 */

    81

static unsigned long ext_injection_timeout_jiffies;

    82

    83

#endif

    84

    85

/** List of intervals for statistics [s].

    86

 */

    87

const unsigned int rate_intervals[] = {

    88

    1, 10, 60

    89

};

    90

    91

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

    92

    93

void ec_master_clear_slave_configs(ec_master_t *);

    94

void ec_master_clear_domains(ec_master_t *);

    95

static int ec_master_idle_thread(void *);

    96

static int ec_master_operation_thread(void *);

    97

#ifdef EC_EOE

    98

static int ec_master_eoe_thread(void *);

    99

#endif

   100

void ec_master_find_dc_ref_clock(ec_master_t *);

   101

void ec_master_clear_device_stats(ec_master_t *);

   102

void ec_master_update_device_stats(ec_master_t *);

   103

   104

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

   105

   106

/** Static variables initializer.

   107

*/

   108

void ec_master_init_static(void)

   109

{

   110

#ifdef EC_HAVE_CYCLES

   111

    timeout_cycles = (cycles_t) EC_IO_TIMEOUT /* us */ * (cpu_khz / 1000);

   112

    ext_injection_timeout_cycles =

   113

        (cycles_t) EC_SDO_INJECTION_TIMEOUT /* us */ * (cpu_khz / 1000);

   114

#else

   115

    // one jiffy may always elapse between time measurement

   116

    timeout_jiffies = max(EC_IO_TIMEOUT * HZ / 1000000, 1);

   117

    ext_injection_timeout_jiffies =

   118

        max(EC_SDO_INJECTION_TIMEOUT * HZ / 1000000, 1);

   119

#endif

   120

}

   121

   122

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

   123

   124

/**

   125

   Master constructor.

   126

   \return 0 in case of success, else < 0

   127

*/

   128

   129

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

   130

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

   131

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

   132

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

   133

        dev_t device_number, /**< Character device number. */

   134

        struct class *class, /**< Device class. */

   135

        unsigned int debug_level /**< Debug level (module parameter). */

   136

        )

   137

{

   138

    int ret;

   139

    unsigned int dev_idx, i;

   140

   141

    master->index = index;

   142

    master->reserved = 0;

   143

   144

    sema_init(&master->master_sem, 1);

   145

   146

    for (dev_idx = EC_DEVICE_MAIN; dev_idx < EC_MAX_NUM_DEVICES; dev_idx++) {

   147

        master->macs[dev_idx] = NULL;

   148

    }

   149

   150

    master->macs[EC_DEVICE_MAIN] = main_mac;

   151

   152

#if EC_MAX_NUM_DEVICES > 1

   153

    master->macs[EC_DEVICE_BACKUP] = backup_mac;

   154

    master->num_devices = 1 + !ec_mac_is_zero(backup_mac);

   155

#else

   156

    if (!ec_mac_is_zero(backup_mac)) {

   157

        EC_MASTER_WARN(master, "Ignoring backup MAC address!");

   158

    }

   159

#endif

   160

   161

    ec_master_clear_device_stats(master);

   162

   163

    sema_init(&master->device_sem, 1);

   164

   165

    master->phase = EC_ORPHANED;

   166

    master->active = 0;

   167

    master->config_changed = 0;

   168

    master->injection_seq_fsm = 0;

   169

    master->injection_seq_rt = 0;

   170

   171

    master->slaves = NULL;

   172

    master->slave_count = 0;

   173

   174

    INIT_LIST_HEAD(&master->configs);

   175

    INIT_LIST_HEAD(&master->domains);

   176

   177

    master->app_time = 0ULL;

   178

    master->app_start_time = 0ULL;

   179

    master->has_app_time = 0;

   180

   181

    master->scan_busy = 0;

   182

    master->allow_scan = 1;

   183

    sema_init(&master->scan_sem, 1);

   184

    init_waitqueue_head(&master->scan_queue);

   185

   186

    master->config_busy = 0;

   187

    sema_init(&master->config_sem, 1);

   188

    init_waitqueue_head(&master->config_queue);

   189

   190

    INIT_LIST_HEAD(&master->datagram_queue);

   191

    master->datagram_index = 0;

   192

   193

    INIT_LIST_HEAD(&master->ext_datagram_queue);

   194

    sema_init(&master->ext_queue_sem, 1);

   195

   196

    master->ext_ring_idx_rt = 0;

   197

    master->ext_ring_idx_fsm = 0;

   198

   199

    // init external datagram ring

   200

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

   201

        ec_datagram_t *datagram = &master->ext_datagram_ring[i];

   202

        ec_datagram_init(datagram);

   203

        snprintf(datagram->name, EC_DATAGRAM_NAME_SIZE, "ext-%u", i);

   204

    }

   205

   206

    // send interval in IDLE phase

   207

    ec_master_set_send_interval(master, 1000000 / HZ);

   208

   209

    master->fsm_slave = NULL;

   210

    INIT_LIST_HEAD(&master->fsm_exec_list);

   211

    master->fsm_exec_count = 0U;

   212

   213

    master->debug_level = debug_level;

   214

    master->stats.timeouts = 0;

   215

    master->stats.corrupted = 0;

   216

    master->stats.unmatched = 0;

   217

    master->stats.output_jiffies = 0;

   218

   219

    master->thread = NULL;

   220

   221

#ifdef EC_EOE

   222

    master->eoe_thread = NULL;

   223

    INIT_LIST_HEAD(&master->eoe_handlers);

   224

#endif

   225

   226

    sema_init(&master->io_sem, 1);

   227

    master->send_cb = NULL;

   228

    master->receive_cb = NULL;

   229

    master->cb_data = NULL;

   230

    master->app_send_cb = NULL;

   231

    master->app_receive_cb = NULL;

   232

    master->app_cb_data = NULL;

   233

   234

    INIT_LIST_HEAD(&master->sii_requests);

   235

   236

    init_waitqueue_head(&master->request_queue);

   237

   238

    // init devices

   239

    for (dev_idx = EC_DEVICE_MAIN; dev_idx < ec_master_num_devices(master);

   240

            dev_idx++) {

   241

        ret = ec_device_init(&master->devices[dev_idx], master);

   242

        if (ret < 0) {

   243

            goto out_clear_devices;

   244

        }

   245

    }

   246

   247

    // init state machine datagram

   248

    ec_datagram_init(&master->fsm_datagram);

   249

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

   250

    ret = ec_datagram_prealloc(&master->fsm_datagram, EC_MAX_DATA_SIZE);

   251

    if (ret < 0) {

   252

        ec_datagram_clear(&master->fsm_datagram);

   253

        EC_MASTER_ERR(master, "Failed to allocate FSM datagram.\n");

   254

        goto out_clear_devices;

   255

    }

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   257

    // create state machine object

   258

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

   259

   260

    // alloc external datagram ring

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

   262

        ec_datagram_t *datagram = &master->ext_datagram_ring[i];

   263

        ret = ec_datagram_prealloc(datagram, EC_MAX_DATA_SIZE);

   264

        if (ret) {

   265

            EC_MASTER_ERR(master, "Failed to allocate external"

   266

                    " datagram %u.\n", i);

   267

            goto out_clear_ext_datagrams;

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        }

   269

    }

   270

   271

    // init reference sync datagram

   272

    ec_datagram_init(&master->ref_sync_datagram);

   273

    snprintf(master->ref_sync_datagram.name, EC_DATAGRAM_NAME_SIZE,

   274

            "refsync");

   275

    ret = ec_datagram_prealloc(&master->ref_sync_datagram, 4);

   276

    if (ret < 0) {

   277

        ec_datagram_clear(&master->ref_sync_datagram);

   278

        EC_MASTER_ERR(master, "Failed to allocate reference"

   279

                " synchronisation datagram.\n");

   280

        goto out_clear_ext_datagrams;

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    }

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   283

    // init sync datagram

   284

    ec_datagram_init(&master->sync_datagram);

   285

    snprintf(master->sync_datagram.name, EC_DATAGRAM_NAME_SIZE, "sync");

   286

    ret = ec_datagram_prealloc(&master->sync_datagram, 4);

   287

    if (ret < 0) {

   288

        ec_datagram_clear(&master->sync_datagram);

   289

        EC_MASTER_ERR(master, "Failed to allocate"

   290

                " synchronisation datagram.\n");

   291

        goto out_clear_ref_sync;

   292

    }

   293

   294

    // init sync monitor datagram

   295

    ec_datagram_init(&master->sync_mon_datagram);

   296

    snprintf(master->sync_mon_datagram.name, EC_DATAGRAM_NAME_SIZE,

   297

            "syncmon");

   298

    ret = ec_datagram_brd(&master->sync_mon_datagram, 0x092c, 4);

   299

    if (ret < 0) {

   300

        ec_datagram_clear(&master->sync_mon_datagram);

   301

        EC_MASTER_ERR(master, "Failed to allocate sync"

   302

                " monitoring datagram.\n");

   303

        goto out_clear_sync;

   304

    }

   305

   306

    master->dc_ref_config = NULL;

   307

    master->dc_ref_clock = NULL;

   308

   309

    // init character device

   310

    ret = ec_cdev_init(&master->cdev, master, device_number);

   311

    if (ret)

   312

        goto out_clear_sync_mon;

   313

   314

#if LINUX_VERSION_CODE >= KERNEL_VERSION(2, 6, 27)

   315

    master->class_device = device_create(class, NULL,

   316

            MKDEV(MAJOR(device_number), master->index), NULL,

   317

            "EtherCAT%u", master->index);

   318

#elif LINUX_VERSION_CODE >= KERNEL_VERSION(2, 6, 26)

   319

    master->class_device = device_create(class, NULL,

   320

            MKDEV(MAJOR(device_number), master->index),

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            "EtherCAT%u", master->index);

   322

#elif LINUX_VERSION_CODE >= KERNEL_VERSION(2, 6, 15)

   323

    master->class_device = class_device_create(class, NULL,

   324

            MKDEV(MAJOR(device_number), master->index), NULL,

   325

            "EtherCAT%u", master->index);

   326

#else

   327

    master->class_device = class_device_create(class,

   328

            MKDEV(MAJOR(device_number), master->index), NULL,

   329

            "EtherCAT%u", master->index);

   330

#endif

   331

    if (IS_ERR(master->class_device)) {

   332

        EC_MASTER_ERR(master, "Failed to create class device!\n");

   333

        ret = PTR_ERR(master->class_device);

   334

        goto out_clear_cdev;

   335

    }

   336

   337

#ifdef EC_RTDM

   338

    // init RTDM device

   339

    ret = ec_rtdm_dev_init(&master->rtdm_dev, master);

   340

    if (ret) {

   341

        goto out_unregister_class_device;

   342

    }

   343

#endif

   344

   345

    return 0;

   346

   347

#ifdef EC_RTDM

   348

out_unregister_class_device:

   349

#if LINUX_VERSION_CODE >= KERNEL_VERSION(2, 6, 26)

   350

    device_unregister(master->class_device);

   351

#else

   352

    class_device_unregister(master->class_device);

   353

#endif

   354

#endif

   355

out_clear_cdev:

   356

    ec_cdev_clear(&master->cdev);

   357

out_clear_sync_mon:

   358

    ec_datagram_clear(&master->sync_mon_datagram);

   359

out_clear_sync:

   360

    ec_datagram_clear(&master->sync_datagram);

   361

out_clear_ref_sync:

   362

    ec_datagram_clear(&master->ref_sync_datagram);

   363

out_clear_ext_datagrams:

   364

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

   365

        ec_datagram_clear(&master->ext_datagram_ring[i]);

   366

    }

   367

    ec_fsm_master_clear(&master->fsm);

   368

    ec_datagram_clear(&master->fsm_datagram);

   369

out_clear_devices:

   370

    for (; dev_idx > 0; dev_idx--) {

   371

        ec_device_clear(&master->devices[dev_idx - 1]);

   372

    }

   373

    return ret;

   374

}

   375

   376

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

   377

   378

/** Destructor.

   379

*/

   380

void ec_master_clear(

   381

        ec_master_t *master /**< EtherCAT master */

   382

        )

   383

{

   384

    unsigned int dev_idx, i;

   385

   386

#ifdef EC_RTDM

   387

    ec_rtdm_dev_clear(&master->rtdm_dev);

   388

#endif

   389

   390

#if LINUX_VERSION_CODE >= KERNEL_VERSION(2, 6, 26)

   391

    device_unregister(master->class_device);

   392

#else

   393

    class_device_unregister(master->class_device);

   394

#endif

   395

   396

    ec_cdev_clear(&master->cdev);

   397

   398

#ifdef EC_EOE

   399

    ec_master_clear_eoe_handlers(master);

   400

#endif

   401

    ec_master_clear_domains(master);

   402

    ec_master_clear_slave_configs(master);

   403

    ec_master_clear_slaves(master);

   404

   405

    ec_datagram_clear(&master->sync_mon_datagram);

   406

    ec_datagram_clear(&master->sync_datagram);

   407

    ec_datagram_clear(&master->ref_sync_datagram);

   408

   409

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

   410

        ec_datagram_clear(&master->ext_datagram_ring[i]);

   411

    }

   412

   413

    ec_fsm_master_clear(&master->fsm);

   414

    ec_datagram_clear(&master->fsm_datagram);

   415

   416

    for (dev_idx = EC_DEVICE_MAIN; dev_idx < ec_master_num_devices(master);

   417

            dev_idx++) {

   418

        ec_device_clear(&master->devices[dev_idx]);

   419

    }

   420

}

   421

   422

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

   423

   424

#ifdef EC_EOE

   425

/** Clear and free all EoE handlers.

   426

 */

   427

void ec_master_clear_eoe_handlers(

   428

        ec_master_t *master /**< EtherCAT master */

   429

        )

   430

{

   431

    ec_eoe_t *eoe, *next;

   432

   433

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

   434

        list_del(&eoe->list);

   435

        ec_eoe_clear(eoe);

   436

        kfree(eoe);

   437

    }

   438

}

   439

#endif

   440

   441

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

   442

   443

/** Clear all slave configurations.

   444

 */

   445

void ec_master_clear_slave_configs(ec_master_t *master)

   446

{

   447

    ec_slave_config_t *sc, *next;

   448

   449

    master->dc_ref_config = NULL;

   450

    master->fsm.sdo_request = NULL; // mark sdo_request as invalid

   451

   452

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

   453

        list_del(&sc->list);

   454

        ec_slave_config_clear(sc);

   455

        kfree(sc);

   456

    }

   457

}

   458

   459

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

   460

   461

/** Clear all slaves.

   462

 */

   463

void ec_master_clear_slaves(ec_master_t *master)

   464

{

   465

    ec_slave_t *slave;

   466

   467

    master->dc_ref_clock = NULL;

   468

   469

    // External requests are obsolete, so we wake pending waiters and remove

   470

    // them from the list.

   471

   472

    while (!list_empty(&master->sii_requests)) {

   473

        ec_sii_write_request_t *request =

   474

            list_entry(master->sii_requests.next,

   475

                    ec_sii_write_request_t, list);

   476

        list_del_init(&request->list); // dequeue

   477

        EC_MASTER_WARN(master, "Discarding SII request, slave %u about"

   478

                " to be deleted.\n", request->slave->ring_position);

   479

        request->state = EC_INT_REQUEST_FAILURE;

   480

        wake_up_all(&master->request_queue);

   481

    }

   482