1

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

     2

 *

     3

 *  $Id$

     4

 *

     5

 *  Copyright (C) 2006-2008  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 and/or

    10

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

    11

 *  published by the Free Software Foundation.

    12

 *

    13

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

    14

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

    15

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

    16

 *  Public License for more details.

    17

 *

    18

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

    19

 *  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

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

    25

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

    26

 *  industrial property and similar rights of Beckhoff Automation GmbH.

    27

 *

    28

 *  vim: expandtab

    29

 *

    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"

    48

#include "slave.h"

    49

#include "slave_config.h"

    50

#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 fsm datagram injection debugging.

    60

 */

    61

#ifdef USE_TRACE_PRINTK

    62

#define DEBUG_INJECT 1

    63

#else

    64

#define DEBUG_INJECT 0

    65

#endif

    66

    67

#ifdef EC_HAVE_CYCLES

    68

    69

/** Frame timeout in cycles.

    70

 */

    71

static cycles_t timeout_cycles;

    72

    73

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

    74

 */

    75

static cycles_t fsm_injection_timeout_cycles;

    76

    77

#else

    78

    79

/** Frame timeout in jiffies.

    80

 */

    81

static unsigned long timeout_jiffies;

    82

    83

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

    84

 */

    85

static unsigned long fsm_injection_timeout_jiffies;

    86

    87

#endif

    88

    89

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

    90

    91

void ec_master_clear_slave_configs(ec_master_t *);

    92

void ec_master_clear_domains(ec_master_t *);

    93

static int ec_master_idle_thread(void *);

    94

static int ec_master_operation_thread(void *);

    95

#ifdef EC_EOE

    96

static int ec_master_eoe_processing(ec_master_t *);

    97

#endif

    98

void ec_master_find_dc_ref_clock(ec_master_t *);

    99

   100

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

   101

   102

/** Static variables initializer.

   103

*/

   104

void ec_master_init_static(void)

   105

{

   106

#ifdef EC_HAVE_CYCLES

   107

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

   108

    fsm_injection_timeout_cycles = (cycles_t) EC_FSM_INJECTION_TIMEOUT /* us */ * (cpu_khz / 1000);

   109

#else

   110

    // one jiffy may always elapse between time measurement

   111

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

   112

    fsm_injection_timeout_jiffies = max(EC_FSM_INJECTION_TIMEOUT * HZ / 1000000, 1);

   113

#endif

   114

}

   115

   116

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

   117

   118

/**

   119

   Master constructor.

   120

   \return 0 in case of success, else < 0

   121

*/

   122

   123

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

   124

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

   125

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

   126

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

   127

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

   128

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

   129

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

   130

        )

   131

{

   132

    int ret;

   133

   134

    master->index = index;

   135

    master->reserved = 0;

   136

   137

    ec_mutex_init(&master->master_mutex);

   138

   139

    master->main_mac = main_mac;

   140

    master->backup_mac = backup_mac;

   141

   142

    ec_mutex_init(&master->device_mutex);

   143

   144

    master->phase = EC_ORPHANED;

   145

    master->active = 0;

   146

    master->config_changed = 0;

   147

    master->injection_seq_fsm = 0;

   148

    master->injection_seq_rt = 0;

   149

   150

    master->slaves = NULL;

   151

    master->slave_count = 0;

   152

   153

    INIT_LIST_HEAD(&master->configs);

   154

   155

    master->app_time = 0ULL;

   156

#ifdef EC_HAVE_CYCLES

   157

    master->dc_cycles_app_start_time = 0;

   158

#endif

   159

    master->dc_jiffies_app_start_time = 0;

   160

    master->app_start_time = 0ULL;

   161

    master->has_app_time = 0;

   162

   163

    master->scan_busy = 0;

   164

    ec_mutex_init(&master->scan_mutex);

   165

    init_waitqueue_head(&master->scan_queue);

   166

   167

    master->config_busy = 0;

   168

    ec_mutex_init(&master->config_mutex);

   169

    init_waitqueue_head(&master->config_queue);

   170

   171

    INIT_LIST_HEAD(&master->datagram_queue);

   172

    master->datagram_index = 0;

   173

   174

    ec_mutex_init(&master->fsm_queue_mutex);

   175

    INIT_LIST_HEAD(&master->fsm_datagram_queue);

   176

   177

    // send interval in IDLE phase

   178

    ec_master_set_send_interval(master, 1000000 / HZ);

   179

   180

    INIT_LIST_HEAD(&master->domains);

   181

   182

    master->debug_level = debug_level;

   183

    master->stats.timeouts = 0;

   184

    master->stats.corrupted = 0;

   185

    master->stats.unmatched = 0;

   186

    master->stats.output_jiffies = 0;

   187

   188

    master->thread = NULL;

   189

   190

#ifdef EC_EOE

   191

    master->eoe_thread = NULL;

   192

    INIT_LIST_HEAD(&master->eoe_handlers);

   193

#endif

   194

   195

    ec_mutex_init(&master->io_mutex);

   196

    master->fsm_queue_lock_cb = NULL;

   197

    master->fsm_queue_unlock_cb = NULL;

   198

    master->fsm_queue_locking_data = NULL;

   199

    master->app_fsm_queue_lock_cb = NULL;

   200

    master->app_fsm_queue_unlock_cb = NULL;

   201

    master->app_fsm_queue_locking_data = NULL;

   202

   203

    INIT_LIST_HEAD(&master->sii_requests);

   204

    init_waitqueue_head(&master->sii_queue);

   205

   206

    INIT_LIST_HEAD(&master->reg_requests);

   207

    init_waitqueue_head(&master->reg_queue);

   208

   209

    // init devices

   210

    ret = ec_device_init(&master->main_device, master);

   211

    if (ret < 0)

   212

        goto out_return;

   213

   214

    ret = ec_device_init(&master->backup_device, master);

   215

    if (ret < 0)

   216

        goto out_clear_main;

   217

   218

    // init state machine datagram

   219

    ec_datagram_init(&master->fsm_datagram);

   220

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

   221

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

   222

    if (ret < 0) {

   223

        ec_datagram_clear(&master->fsm_datagram);

   224

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

   225

        goto out_clear_backup;

   226

    }

   227

   228

    // create state machine object

   229

    ec_mbox_init(&master->fsm_mbox,&master->fsm_datagram);

   230

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

   231

   232

    // init reference sync datagram

   233

    ec_datagram_init(&master->ref_sync_datagram);

   234

    snprintf(master->ref_sync_datagram.name, EC_DATAGRAM_NAME_SIZE, "refsync");

   235

    ret = ec_datagram_apwr(&master->ref_sync_datagram, 0, 0x0910, 8);

   236

    if (ret < 0) {

   237

        ec_datagram_clear(&master->ref_sync_datagram);

   238

        EC_MASTER_ERR(master, "Failed to allocate reference"

   239

                " synchronisation datagram.\n");

   240

        goto out_clear_fsm;

   241

    }

   242

   243

    // init sync datagram

   244

    ec_datagram_init(&master->sync_datagram);

   245

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

   246

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

   247

    if (ret < 0) {

   248

        ec_datagram_clear(&master->sync_datagram);

   249

        EC_MASTER_ERR(master, "Failed to allocate"

   250

                " synchronisation datagram.\n");

   251

        goto out_clear_ref_sync;

   252

    }

   253

   254

    // init sync monitor datagram

   255

    ec_datagram_init(&master->sync_mon_datagram);

   256

    snprintf(master->sync_mon_datagram.name, EC_DATAGRAM_NAME_SIZE, "syncmon");

   257

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

   258

    if (ret < 0) {

   259

        ec_datagram_clear(&master->sync_mon_datagram);

   260

        EC_MASTER_ERR(master, "Failed to allocate sync"

   261

                " monitoring datagram.\n");

   262

        goto out_clear_sync;

   263

    }

   264

   265

    ec_master_find_dc_ref_clock(master);

   266

   267

    // init character device

   268

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

   269

    if (ret)

   270

        goto out_clear_sync_mon;

   271

   272

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

   273

    master->class_device = device_create(class, NULL,

   274

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

   275

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

   276

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

   277

    master->class_device = device_create(class, NULL,

   278

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

   279

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

   280

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

   281

    master->class_device = class_device_create(class, NULL,

   282

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

   283

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

   284

#else

   285

    master->class_device = class_device_create(class,

   286

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

   287

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

   288

#endif

   289

    if (IS_ERR(master->class_device)) {

   290

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

   291

        ret = PTR_ERR(master->class_device);

   292

        goto out_clear_cdev;

   293

    }

   294

   295

    return 0;

   296

   297

out_clear_cdev:

   298

    ec_cdev_clear(&master->cdev);

   299

out_clear_sync_mon:

   300

    ec_datagram_clear(&master->sync_mon_datagram);

   301

out_clear_sync:

   302

    ec_datagram_clear(&master->sync_datagram);

   303

out_clear_ref_sync:

   304

    ec_datagram_clear(&master->ref_sync_datagram);

   305

out_clear_fsm:

   306

    ec_fsm_master_clear(&master->fsm);

   307

    ec_datagram_clear(&master->fsm_datagram);

   308

out_clear_backup:

   309

    ec_device_clear(&master->backup_device);

   310

out_clear_main:

   311

    ec_device_clear(&master->main_device);

   312

out_return:

   313

    return ret;

   314

}

   315

   316

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

   317

   318

/** Destructor.

   319

*/

   320

void ec_master_clear(

   321

        ec_master_t *master /**< EtherCAT master */

   322

        )

   323

{

   324

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

   325

    device_unregister(master->class_device);

   326

#else

   327

    class_device_unregister(master->class_device);

   328

#endif

   329

   330

    ec_cdev_clear(&master->cdev);

   331

   332

#ifdef EC_EOE

   333

    ec_master_clear_eoe_handlers(master);

   334

#endif

   335

    ec_master_clear_domains(master);

   336

    ec_master_clear_slave_configs(master);

   337

    ec_master_clear_slaves(master);

   338

   339

    ec_datagram_clear(&master->sync_mon_datagram);

   340

    ec_datagram_clear(&master->sync_datagram);

   341

    ec_datagram_clear(&master->ref_sync_datagram);

   342

    ec_fsm_master_clear(&master->fsm);

   343

    ec_mbox_clear(&master->fsm_mbox);

   344

    ec_datagram_clear(&master->fsm_datagram);

   345

    ec_device_clear(&master->backup_device);

   346

    ec_device_clear(&master->main_device);

   347

}

   348

   349

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

   350

   351

#ifdef EC_EOE

   352

/** Clear and free all EoE handlers.

   353

 */

   354

void ec_master_clear_eoe_handlers(

   355

        ec_master_t *master /**< EtherCAT master */

   356

        )

   357

{

   358

    ec_eoe_t *eoe, *next;

   359

   360

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

   361

        list_del(&eoe->list);

   362

        ec_eoe_clear(eoe);

   363

        kfree(eoe);

   364

    }

   365

}

   366

#endif

   367

   368

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

   369

   370

/** Clear all slave configurations.

   371

 */

   372

void ec_master_clear_slave_configs(ec_master_t *master)

   373

{

   374

    ec_slave_config_t *sc, *next;

   375

   376

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

   377

        list_del(&sc->list);

   378

        ec_slave_config_clear(sc);

   379

        kfree(sc);

   380

    }

   381

}

   382

   383

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

   384

   385

/** Clear all slaves.

   386

 */

   387

void ec_master_clear_slaves(ec_master_t *master)

   388

{

   389

    ec_slave_t *slave;

   390

   391

    master->dc_ref_clock = NULL;

   392

   393

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

   394

    // them from the list

   395

   396

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

   397

        ec_sii_write_request_t *request =

   398

            list_entry(master->sii_requests.next,

   399

                    ec_sii_write_request_t, list);

   400

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

   401

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

   402

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

   403

        request->state = EC_INT_REQUEST_FAILURE;

   404

        kref_put(&request->refcount,ec_master_sii_write_request_release);

   405

        wake_up(&master->sii_queue);

   406

    }

   407

   408

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

   409

        ec_reg_request_t *request =

   410

            list_entry(master->reg_requests.next, ec_reg_request_t, list);

   411

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

   412

        EC_MASTER_WARN(master, "Discarding register request, slave %u"

   413

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

   414

        request->state = EC_INT_REQUEST_FAILURE;

   415

        kref_put(&request->refcount,ec_master_reg_request_release);

   416

        wake_up(&master->reg_queue);

   417

    }

   418

   419

    // we must lock the io_mutex here because the slave's fsm_datagram

   420

    // will be unqueued

   421

    ec_mutex_lock(&master->io_mutex);

   422

    for (slave = master->slaves;

   423

            slave < master->slaves + master->slave_count;

   424

            slave++) {

   425

        ec_slave_clear(slave);

   426

    }

   427

    ec_mutex_unlock(&master->io_mutex);

   428

   429

    if (master->slaves) {

   430

        kfree(master->slaves);

   431

        master->slaves = NULL;

   432

    }

   433

   434

    master->slave_count = 0;

   435

}

   436

   437

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

   438

   439

/** Clear all domains.

   440

 */

   441

void ec_master_clear_domains(ec_master_t *master)

   442

{

   443

    ec_domain_t *domain, *next;

   444

   445

    // we must lock the io_mutex here because the domains's datagram

   446

    // will be unqueued

   447

    ec_mutex_lock(&master->io_mutex);

   448

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

   449

        list_del(&domain->list);

   450

        ec_domain_clear(domain);

   451

        kfree(domain);

   452

    }

   453

    ec_mutex_unlock(&master->io_mutex);

   454

}

   455

   456

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

   457

   458

/** Clear the configuration applied by the application.

   459

 */

   460

void ec_master_clear_config(

   461

        ec_master_t *master /**< EtherCAT master. */

   462

        )

   463

{

   464

    ec_mutex_lock(&master->master_mutex);

   465

    ec_master_clear_domains(master);

   466

    ec_master_clear_slave_configs(master);

   467

    ec_mutex_unlock(&master->master_mutex);

   468

}

   469

   470

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

   471

   472

/** Starts the master thread.

   473

 *

   474

 * \retval  0 Success.

   475

 * \retval <0 Error code.

   476

 */

   477

int ec_master_thread_start(

   478

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

   479

        int (*thread_func)(void *), /**< thread function to start */

   480

        const char *name /**< Thread name. */