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; 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

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

   110

        )

   111

{

   112

    unsigned int i;

   113

   114

    master->index = index;

   115

    master->reserved = 0;

   116

   117

    master->main_mac = main_mac;

   118

    master->backup_mac = backup_mac;

   119

    init_MUTEX(&master->device_sem);

   120

   121

    master->mode = EC_MASTER_MODE_ORPHANED;

   122

    master->injection_seq_fsm = 0;

   123

    master->injection_seq_rt = 0;

   124

   125

    INIT_LIST_HEAD(&master->slaves);

   126

    master->slave_count = 0;

   127

   128

    INIT_LIST_HEAD(&master->configs);

   129

   130

    master->scan_busy = 0;

   131

    master->allow_scan = 1;

   132

    init_MUTEX(&master->scan_sem);

   133

    init_waitqueue_head(&master->scan_queue);

   134

   135

    master->config_busy = 0;

   136

    master->allow_config = 1;

   137

    init_MUTEX(&master->config_sem);

   138

    init_waitqueue_head(&master->config_queue);

   139

   140

    INIT_LIST_HEAD(&master->datagram_queue);

   141

    master->datagram_index = 0;

   142

   143

    INIT_LIST_HEAD(&master->domains);

   144

   145

    master->debug_level = 0;

   146

    master->stats.timeouts = 0;

   147

    master->stats.corrupted = 0;

   148

    master->stats.unmatched = 0;

   149

    master->stats.output_jiffies = 0;

   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 character device

   183

    if (ec_cdev_init(&master->cdev, master, device_number))

   184

        goto out_return;

   185

   186

    // init devices

   187

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

   188

        goto out_cdev;

   189

   190

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

   191

        goto out_clear_main;

   192

   193

    // init state machine datagram

   194

    ec_datagram_init(&master->fsm_datagram);

   195

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

   196

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

   197

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

   198

        goto out_clear_backup;

   199

    }

   200

   201

    // create state machine object

   202

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

   203

   204

    // init kobject and add it to the hierarchy

   205

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

   206

    kobject_init(&master->kobj);

   207

    master->kobj.ktype = &ktype_ec_master;

   208

    master->kobj.parent = module_kobj;

   209

   210

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

   211

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

   212

        kobject_put(&master->kobj);

   213

        goto out_clear_fsm;

   214

    }

   215

   216

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

   217

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

   218

        kobject_put(&master->kobj);

   219

        goto out_clear_fsm;

   220

    }

   221

   222

    return 0;

   223

   224

out_clear_fsm:

   225

    ec_fsm_master_clear(&master->fsm);

   226

out_clear_backup:

   227

    ec_device_clear(&master->backup_device);

   228

out_clear_main:

   229

    ec_device_clear(&master->main_device);

   230

out_cdev:

   231

    ec_cdev_clear(&master->cdev);

   232

out_return:

   233

    return -1;

   234

}

   235

   236

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

   237

   238

/**

   239

   Clear and free master.

   240

   This method is called by the kobject,

   241

   once there are no more references to it.

   242

*/

   243

   244

void ec_master_clear(

   245

        ec_master_t *master /**< EtherCAT master */

   246

        )

   247

{

   248

#ifdef EC_EOE

   249

    ec_master_clear_eoe_handlers(master);

   250

#endif

   251

    ec_master_destroy_slave_configs(master);

   252

    ec_master_destroy_slaves(master);

   253

    ec_master_destroy_domains(master);

   254

    ec_fsm_master_clear(&master->fsm);

   255

    ec_datagram_clear(&master->fsm_datagram);

   256

    ec_device_clear(&master->backup_device);

   257

    ec_device_clear(&master->main_device);

   258

    ec_cdev_clear(&master->cdev);

   259

   260

    // destroy self

   261

    kobject_del(&master->kobj);

   262

    kobject_put(&master->kobj);

   263

}

   264

   265

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

   266

   267

#ifdef EC_EOE

   268

/** Clear and free all EoE handlers.

   269

 */

   270

void ec_master_clear_eoe_handlers(

   271

        ec_master_t *master /**< EtherCAT master */

   272

        )

   273

{

   274

    ec_eoe_t *eoe, *next;

   275

   276

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

   277

        list_del(&eoe->list);

   278

        ec_eoe_clear(eoe);

   279

        kfree(eoe);

   280

    }

   281

}

   282

#endif

   283

   284

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

   285

   286

/** Destroy all slave configurations.

   287

 */

   288

void ec_master_destroy_slave_configs(ec_master_t *master)

   289

{

   290

    ec_slave_config_t *sc, *next;

   291

   292

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

   293

        list_del(&sc->list);

   294

        ec_slave_config_destroy(sc);

   295

    }

   296

}

   297

   298

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

   299

   300

/** Destroy all slaves.

   301

 */

   302

void ec_master_destroy_slaves(ec_master_t *master)

   303

{

   304

    ec_slave_t *slave, *next;

   305

   306

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

   307

        list_del(&slave->list);

   308

        ec_slave_destroy(slave);

   309

    }

   310

   311

    master->slave_count = 0;

   312

}

   313

   314

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

   315

   316

/**

   317

   Destroy all domains.

   318

*/

   319

   320

void ec_master_destroy_domains(ec_master_t *master)

   321

{

   322

    ec_domain_t *domain, *next;

   323

   324

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

   325

        list_del(&domain->list);

   326

        ec_domain_destroy(domain);

   327

    }

   328

}

   329

   330

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

   331

   332

/**

   333

   Internal locking callback.

   334

*/

   335

   336

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

   337

{

   338

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

   339

    return 0;

   340

}

   341

   342

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

   343

   344

/**

   345

   Internal unlocking callback.

   346

*/

   347

   348

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

   349

{

   350

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

   351

}

   352

   353

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

   354

   355

/**

   356

 * Starts the master thread.

   357

 */

   358

   359

int ec_master_thread_start(

   360

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

   361

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

   362

        )

   363

{

   364

    init_completion(&master->thread_exit);

   365

   366

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

   367

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

   368

                    master, CLONE_KERNEL)))

   369

        return -1;

   370

   371

    return 0;

   372

}

   373

   374

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

   375

   376

/**

   377

 * Stops the master thread.

   378

 */

   379

   380

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

   381

{

   382

    if (!master->thread_id) {

   383

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

   384

        return;

   385

    }

   386

   387

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

   388

    wait_for_completion(&master->thread_exit);

   389

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

   390

   391

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

   392

   393

    // wait for FSM datagram

   394

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

   395

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

   396

        schedule();

   397

}

   398

   399

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

   400

   401

/**

   402

 * Transition function from ORPHANED to IDLE mode.

   403

 */

   404

   405

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

   406

{

   407

    master->request_cb = ec_master_request_cb;

   408

    master->release_cb = ec_master_release_cb;

   409

    master->cb_data = master;

   410

   411

    master->mode = EC_MASTER_MODE_IDLE;

   412

    if (ec_master_thread_start(master, ec_master_idle_thread)) {

   413

        master->mode = EC_MASTER_MODE_ORPHANED;

   414

        return -1;

   415

    }

   416

   417

    return 0;

   418

}

   419

   420

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

   421

   422

/**

   423

 * Transition function from IDLE to ORPHANED mode.

   424

 */

   425

   426

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

   427

{

   428

    master->mode = EC_MASTER_MODE_ORPHANED;

   429

   430

#ifdef EC_EOE

   431

    ec_master_eoe_stop(master);

   432

#endif

   433

    ec_master_thread_stop(master);

   434

    ec_master_destroy_slaves(master);

   435

}

   436

   437

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

   438

   439

/**

   440

 * Transition function from IDLE to OPERATION mode.

   441

 */

   442

   443

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

   444

{

   445

    ec_slave_t *slave;

   446

#ifdef EC_EOE

   447

    ec_eoe_t *eoe;

   448

#endif

   449

   450

    down(&master->config_sem);

   451

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

   452

    if (master->config_busy) {

   453

        up(&master->config_sem);

   454

   455

        // wait for slave configuration to complete

   456

        if (wait_event_interruptible(master->config_queue,

   457

                    !master->config_busy)) {

   458

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

   459

            goto out_allow;

   460

        }

   461

   462

        if (master->debug_level)

   463

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

   464

    } else {

   465

        up(&master->config_sem);

   466

    }

   467

   468

    down(&master->scan_sem);

   469

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

   470

    if (!master->scan_busy) {

   471

        up(&master->scan_sem);

   472

    } else {

   473

        up(&master->scan_sem);

   474

   475

        // wait for slave scan to complete

   476

        if (wait_event_interruptible(master->scan_queue, !master->scan_busy)) {

   477

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

   478

            goto out_allow;

   479

        }

   480

   481

        if (master->debug_level)

   482

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

   483

    }

   484