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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(debug_level);

    74

    75

static struct attribute *ec_def_attrs[] = {

    76

    &attr_info,

    77

    &attr_debug_level,

    78

    NULL,

    79

};

    80

    81

static struct sysfs_ops ec_sysfs_ops = {

    82

    .show = &ec_show_master_attribute,

    83

    .store = ec_store_master_attribute

    84

};

    85

    86

static struct kobj_type ktype_ec_master = {

    87

    .release = ec_master_clear,

    88

    .sysfs_ops = &ec_sysfs_ops,

    89

    .default_attrs = ec_def_attrs

    90

};

    91

    92

/** \endcond */

    93

    94

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

    95

    96

/**

    97

   Master constructor.

    98

   \return 0 in case of success, else < 0

    99

*/

   100

   101

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

   102

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

   103

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

   104

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

   105

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

   106

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

   107

        )

   108

{

   109

    ec_eoe_t *eoe, *next_eoe;

   110

    unsigned int i;

   111

   112

    atomic_set(&master->available, 1);

   113

    master->index = index;

   114

   115

    master->main_device_id = main_id;

   116

    master->backup_device_id = backup_id;

   117

    init_MUTEX(&master->device_sem);

   118

   119

    master->mode = EC_MASTER_MODE_ORPHANED;

   120

   121

    INIT_LIST_HEAD(&master->slaves);

   122

    master->slave_count = 0;

   123

   124

    INIT_LIST_HEAD(&master->datagram_queue);

   125

    master->datagram_index = 0;

   126

   127

    INIT_LIST_HEAD(&master->domains);

   128

    master->debug_level = 0;

   129

   130

    master->stats.timeouts = 0;

   131

    master->stats.corrupted = 0;

   132

    master->stats.skipped = 0;

   133

    master->stats.unmatched = 0;

   134

    master->stats.output_jiffies = 0;

   135

   136

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

   137

        master->idle_cycle_times[i] = 0;

   138

        master->eoe_cycle_times[i] = 0;

   139

    }

   140

    master->idle_cycle_time_pos = 0;

   141

    master->eoe_cycle_time_pos = 0;

   142

   143

    init_timer(&master->eoe_timer);

   144

    master->eoe_timer.function = ec_master_eoe_run;

   145

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

   146

    master->eoe_running = 0;

   147

    master->eoe_checked = 0;

   148

    INIT_LIST_HEAD(&master->eoe_handlers);

   149

   150

    master->internal_lock = SPIN_LOCK_UNLOCKED;

   151

    master->request_cb = NULL;

   152

    master->release_cb = NULL;

   153

    master->cb_data = NULL;

   154

   155

    master->sdo_request = NULL;

   156

    master->sdo_seq_user = 0;

   157

    master->sdo_seq_master = 0;

   158

    init_MUTEX(&master->sdo_sem);

   159

    init_timer(&master->sdo_timer);

   160

    master->sdo_timer.function = ec_master_check_sdo;

   161

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

   162

    init_completion(&master->sdo_complete);

   163

   164

    // init devices

   165

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

   166

        goto out_return;

   167

   168

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

   169

        goto out_clear_main;

   170

   171

    // create EoE handlers

   172

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

   173

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

   174

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

   175

            goto out_clear_eoe;

   176

        }

   177

        if (ec_eoe_init(eoe)) {

   178

            kfree(eoe);

   179

            goto out_clear_eoe;

   180

        }

   181

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

   182

    }

   183

   184

    // init state machine datagram

   185

    ec_datagram_init(&master->fsm_datagram);

   186

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

   187

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

   188

        goto out_clear_eoe;

   189

    }

   190

   191

    // create state machine object

   192

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

   193

   194

    // init kobject and add it to the hierarchy

   195

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

   196

    kobject_init(&master->kobj);

   197

    master->kobj.ktype = &ktype_ec_master;

   198

    master->kobj.parent = module_kobj;

   199

   200

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

   201

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

   202

        kobject_put(&master->kobj);

   203

        return -1;

   204

    }

   205

   206

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

   207

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

   208

        kobject_put(&master->kobj);

   209

        return -1;

   210

    }

   211

   212

    return 0;

   213

   214

out_clear_eoe:

   215

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

   216

        list_del(&eoe->list);

   217

        ec_eoe_clear(eoe);

   218

        kfree(eoe);

   219

    }

   220

    ec_device_clear(&master->backup_device);

   221

out_clear_main:

   222

    ec_device_clear(&master->main_device);

   223

out_return:

   224

    return -1;

   225

}

   226

   227

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

   228

   229

/**

   230

   Master destructor.

   231

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

   232

*/

   233

   234

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

   235

{

   236

    ec_master_destroy_slaves(master);

   237

    ec_master_destroy_domains(master);

   238

   239

    // destroy self

   240

    kobject_del(&master->kobj);

   241

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

   242

}

   243

   244

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

   245

   246

/**

   247

   Clear and free master.

   248

   This method is called by the kobject,

   249

   once there are no more references to it.

   250

*/

   251

   252

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

   253

{

   254

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

   255

    ec_eoe_t *eoe, *next_eoe;

   256

    ec_datagram_t *datagram, *next_datagram;

   257

   258

    // dequeue all datagrams

   259

    list_for_each_entry_safe(datagram, next_datagram,

   260

                             &master->datagram_queue, queue) {

   261

        datagram->state = EC_DATAGRAM_ERROR;

   262

        list_del_init(&datagram->queue);

   263

    }

   264

   265

    ec_fsm_master_clear(&master->fsm);

   266

    ec_datagram_clear(&master->fsm_datagram);

   267

   268

    // clear EoE objects

   269

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

   270

        list_del(&eoe->list);

   271

        ec_eoe_clear(eoe);

   272

        kfree(eoe);

   273

    }

   274

   275

    ec_device_clear(&master->backup_device);

   276

    ec_device_clear(&master->main_device);

   277

   278

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

   279

   280

    kfree(master);

   281

}

   282

   283

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

   284

   285

/**

   286

   Destroy all slaves.

   287

*/

   288

   289

void ec_master_destroy_slaves(ec_master_t *master)

   290

{

   291

    ec_slave_t *slave, *next_slave;

   292

   293

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

   294

        list_del(&slave->list);

   295

        ec_slave_destroy(slave);

   296

    }

   297

   298

    master->slave_count = 0;

   299

}

   300

   301

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

   302

   303

/**

   304

   Destroy all domains.

   305

*/

   306

   307

void ec_master_destroy_domains(ec_master_t *master)

   308

{

   309

    ec_domain_t *domain, *next_d;

   310

   311

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

   312

        list_del(&domain->list);

   313

        ec_domain_destroy(domain);

   314

    }

   315

}

   316

   317

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

   318

   319

/**

   320

   Flushes the SDO request queue.

   321

*/

   322

   323

void ec_master_flush_sdo_requests(ec_master_t *master)

   324

{

   325

    del_timer_sync(&master->sdo_timer);

   326

    complete(&master->sdo_complete);

   327

    master->sdo_request = NULL;

   328

    master->sdo_seq_user = 0;

   329

    master->sdo_seq_master = 0;

   330

}

   331

   332

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

   333

   334

/**

   335

   Internal locking callback.

   336

*/

   337

   338

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

   339

{

   340

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

   341

    return 0;

   342

}

   343

   344

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

   345

   346

/**

   347

   Internal unlocking callback.

   348

*/

   349

   350

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

   351

{

   352

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

   353

}

   354

   355

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

   356

   357

/**

   358

 * Starts the master thread.

   359

*/

   360

   361

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

   362

{

   363

    init_completion(&master->thread_exit);

   364

   365

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

   366

    if (!(master->thread_id =

   367

                kernel_thread(ec_master_thread, master, CLONE_KERNEL)))

   368

        return -1;

   369

   370

    return 0;

   371

}

   372

   373

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

   374

   375

/**

   376

 * Stops the master thread.

   377

*/

   378

   379

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

   380

{

   381

    if (master->thread_id) {

   382

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

   383

        wait_for_completion(&master->thread_exit);

   384

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

   385

    }    

   386

}

   387

   388

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

   389

   390

/**

   391

 * Transition function from ORPHANED to IDLE mode.

   392

*/

   393

   394

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

   395

{

   396

    master->request_cb = ec_master_request_cb;

   397

    master->release_cb = ec_master_release_cb;

   398

    master->cb_data = master;

   399

   400

    master->mode = EC_MASTER_MODE_IDLE;

   401

    if (ec_master_thread_start(master)) {

   402

        master->mode = EC_MASTER_MODE_ORPHANED;

   403

        return -1;

   404

    }

   405

   406

    return 0;

   407

}

   408

   409

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

   410

   411

/**

   412

 * Transition function from IDLE to ORPHANED mode.

   413

*/

   414

   415

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

   416

{

   417

    master->mode = EC_MASTER_MODE_ORPHANED;

   418

   419

    ec_master_eoe_stop(master);

   420

    ec_master_thread_stop(master);

   421

    ec_master_flush_sdo_requests(master);

   422

    ec_master_destroy_slaves(master);

   423

}

   424

   425

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

   426

   427

/**

   428

 * Transition function from IDLE to OPERATION mode.

   429

*/

   430

   431

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

   432

{

   433

    ec_slave_t *slave;

   434

   435

    ec_master_eoe_stop(master); // stop EoE timer

   436

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

   437

    ec_master_thread_stop(master);

   438

   439

    master->mode = EC_MASTER_MODE_OPERATION;

   440

   441

    // wait for FSM datagram

   442

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

   443

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

   444

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

   445

        ecrt_master_receive(master);

   446

    }

   447

   448

    // finish running master FSM

   449

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

   450

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

   451

            ec_master_sync_io(master);

   452

        }

   453

    }

   454

   455

    if (master->debug_level) {

   456

        if (ec_master_measure_bus_time(master)) {

   457

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

   458

            goto out_idle;

   459

        }

   460

    }

   461

   462

    // set initial slave states

   463

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

   464

        if (ec_slave_is_coupler(slave)) {

   465

            ec_slave_request_state(slave, EC_SLAVE_STATE_OP);

   466

        }

   467

        else {

   468

            ec_slave_request_state(slave, EC_SLAVE_STATE_PREOP);

   469

        }

   470

    }

   471

   472

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

   473

   474

    return 0;

   475

   476

 out_idle:

   477

    master->mode = EC_MASTER_MODE_IDLE;

   478

    if (ec_master_thread_start(master)) {

   479

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

   480

    }

   481

    return -1;

   482

}

   483

   484

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

   485

   486

/**

   487

 * Transition function from OPERATION to IDLE mode.