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

     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

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 *  published by the Free Software Foundation.

    12

 *

    13

 *  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

    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

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

    29

    30

/**

    31

   \file

    32

   EtherCAT master methods.

    33

*/

    34

    35

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

    36

    37

#include <linux/module.h>

    38

#include <linux/kernel.h>

    39

#include <linux/string.h>

    40

#include <linux/slab.h>

    41

#include <linux/delay.h>

    42

#include <linux/device.h>

    43

#include <linux/version.h>

    44

#include <linux/hrtimer.h>

    45

#include "globals.h"

    46

#include "slave.h"

    47

#include "slave_config.h"

    48

#include "device.h"

    49

#include "datagram.h"

    50

#ifdef EC_EOE

    51

#include "ethernet.h"

    52

#endif

    53

#include "master.h"

    54

    55

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

    56

    57

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

    58

 */

    59

#define DEBUG_INJECT 0

    60

    61

#ifdef EC_HAVE_CYCLES

    62

    63

/** Frame timeout in cycles.

    64

 */

    65

static cycles_t timeout_cycles;

    66

static cycles_t sdo_injection_timeout_cycles;

    67

#else

    68

    69

/** Frame timeout in jiffies.

    70

 */

    71

static unsigned long timeout_jiffies;

    72

static unsigned long sdo_injection_timeout_jiffies;

    73

    74

#endif

    75

    76

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

    77

    78

void ec_master_clear_slave_configs(ec_master_t *);

    79

void ec_master_clear_domains(ec_master_t *);

    80

static int ec_master_idle_thread(void *);

    81

static int ec_master_operation_thread(void *);

    82

#ifdef EC_EOE

    83

static int ec_master_eoe_thread(void *);

    84

#endif

    85

void ec_master_find_dc_ref_clock(ec_master_t *);

    86

    87

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

    88

    89

/** Static variables initializer.

    90

*/

    91

void ec_master_init_static(void)

    92

{

    93

#ifdef EC_HAVE_CYCLES

    94

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

    95

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

    96

#else

    97

    // one jiffy may always elapse between time measurement

    98

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

    99

    sdo_injection_timeout_jiffies = max(EC_SDO_INJECTION_TIMEOUT * HZ / 1000000, 1);

   100

#endif

   101

}

   102

   103

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

   104

   105

/**

   106

   Master constructor.

   107

   \return 0 in case of success, else < 0

   108

*/

   109

   110

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

   111

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

   112

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

   113

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

   114

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

   115

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

   116

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

   117

        )

   118

{

   119

    int ret;

   120

   121

    master->index = index;

   122

    master->reserved = 0;

   123

   124

    sema_init(&master->master_sem, 1);

   125

   126

    master->main_mac = main_mac;

   127

    master->backup_mac = backup_mac;

   128

   129

    sema_init(&master->device_sem, 1);

   130

   131

    master->phase = EC_ORPHANED;

   132

    master->active = 0;

   133

    master->injection_seq_fsm = 0;

   134

    master->injection_seq_rt = 0;

   135

   136

    master->slaves = NULL;

   137

    master->slave_count = 0;

   138

   139

    INIT_LIST_HEAD(&master->configs);

   140

   141

    master->app_time = 0ULL;

   142

    master->app_start_time = 0ULL;

   143

    master->has_start_time = 0;

   144

   145

    master->scan_busy = 0;

   146

    master->allow_scan = 1;

   147

    sema_init(&master->scan_sem, 1);

   148

    init_waitqueue_head(&master->scan_queue);

   149

   150

    master->config_busy = 0;

   151

    master->allow_config = 1;

   152

    sema_init(&master->config_sem, 1);

   153

    init_waitqueue_head(&master->config_queue);

   154

   155

    INIT_LIST_HEAD(&master->datagram_queue);

   156

    master->datagram_index = 0;

   157

   158

    INIT_LIST_HEAD(&master->ext_datagram_queue);

   159

    sema_init(&master->ext_queue_sem, 1);

   160

   161

    INIT_LIST_HEAD(&master->external_datagram_queue);

   162

   163

    // send interval in IDLE phase

   164

    ec_master_set_send_interval(master, 1000000 / HZ);

   165

   166

    INIT_LIST_HEAD(&master->domains);

   167

   168

    master->debug_level = debug_level;

   169

    master->stats.timeouts = 0;

   170

    master->stats.corrupted = 0;

   171

    master->stats.unmatched = 0;

   172

    master->stats.output_jiffies = 0;

   173

    master->frames_timed_out = 0;

   174

   175

    master->thread = NULL;

   176

   177

#ifdef EC_EOE

   178

    master->eoe_thread = NULL;

   179

    INIT_LIST_HEAD(&master->eoe_handlers);

   180

#endif

   181

   182

    sema_init(&master->io_sem, 1);

   183

    master->send_cb = NULL;

   184

    master->receive_cb = NULL;

   185

    master->cb_data = NULL;

   186

    master->app_send_cb = NULL;

   187

    master->app_receive_cb = NULL;

   188

    master->app_cb_data = NULL;

   189

   190

    INIT_LIST_HEAD(&master->sii_requests);

   191

    init_waitqueue_head(&master->sii_queue);

   192

   193

    INIT_LIST_HEAD(&master->reg_requests);

   194

    init_waitqueue_head(&master->reg_queue);

   195

   196

    // init devices

   197

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

   198

    if (ret < 0)

   199

        goto out_return;

   200

   201

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

   202

    if (ret < 0)

   203

        goto out_clear_main;

   204

   205

    // init state machine datagram

   206

    ec_datagram_init(&master->fsm_datagram);

   207

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

   208

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

   209

    if (ret < 0) {

   210

        ec_datagram_clear(&master->fsm_datagram);

   211

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

   212

        goto out_clear_backup;

   213

    }

   214

   215

    // create state machine object

   216

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

   217

   218

    // init reference sync datagram

   219

    ec_datagram_init(&master->ref_sync_datagram);

   220

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

   221

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

   222

    if (ret < 0) {

   223

        ec_datagram_clear(&master->ref_sync_datagram);

   224

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

   225

        goto out_clear_fsm;

   226

    }

   227

   228

    // init sync datagram

   229

    ec_datagram_init(&master->sync_datagram);

   230

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

   231

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

   232

    if (ret < 0) {

   233

        ec_datagram_clear(&master->sync_datagram);

   234

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

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        goto out_clear_ref_sync;

   236

    }

   237

   238

    // init sync monitor datagram

   239

    ec_datagram_init(&master->sync_mon_datagram);

   240

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

   241

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

   242

    if (ret < 0) {

   243

        ec_datagram_clear(&master->sync_mon_datagram);

   244

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

   245

        goto out_clear_sync;

   246

    }

   247

   248

    ec_master_find_dc_ref_clock(master);

   249

   250

    // init character device

   251

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

   252

    if (ret)

   253

        goto out_clear_sync_mon;

   254

   255

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

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    master->class_device = device_create(class, NULL,

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

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

   259

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

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    master->class_device = device_create(class, NULL,

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

   262

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

   263

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

   264

    master->class_device = class_device_create(class, NULL,

   265

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

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

   267

#else

   268

    master->class_device = class_device_create(class,

   269

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

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

   271

#endif

   272

    if (IS_ERR(master->class_device)) {

   273

        EC_ERR("Failed to create class device!\n");

   274

        ret = PTR_ERR(master->class_device);

   275

        goto out_clear_cdev;

   276

    }

   277

   278

    return 0;

   279

   280

out_clear_cdev:

   281

    ec_cdev_clear(&master->cdev);

   282

out_clear_sync_mon:

   283

    ec_datagram_clear(&master->sync_mon_datagram);

   284

out_clear_sync:

   285

    ec_datagram_clear(&master->sync_datagram);

   286

out_clear_ref_sync:

   287

    ec_datagram_clear(&master->ref_sync_datagram);

   288

out_clear_fsm:

   289

    ec_fsm_master_clear(&master->fsm);

   290

    ec_datagram_clear(&master->fsm_datagram);

   291

out_clear_backup:

   292

    ec_device_clear(&master->backup_device);

   293

out_clear_main:

   294

    ec_device_clear(&master->main_device);

   295

out_return:

   296

    return ret;

   297

}

   298

   299

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

   300

   301

/** Destructor.

   302

*/

   303

void ec_master_clear(

   304

        ec_master_t *master /**< EtherCAT master */

   305

        )

   306

{

   307

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

   308

    device_unregister(master->class_device);

   309

#else

   310

    class_device_unregister(master->class_device);

   311

#endif

   312

   313

    ec_cdev_clear(&master->cdev);

   314

   315

#ifdef EC_EOE

   316

    ec_master_clear_eoe_handlers(master);

   317

#endif

   318

    ec_master_clear_domains(master);

   319

    ec_master_clear_slave_configs(master);

   320

    ec_master_clear_slaves(master);

   321

   322

    ec_datagram_clear(&master->sync_mon_datagram);

   323

    ec_datagram_clear(&master->sync_datagram);

   324

    ec_datagram_clear(&master->ref_sync_datagram);

   325

    ec_fsm_master_clear(&master->fsm);

   326

    ec_datagram_clear(&master->fsm_datagram);

   327

    ec_device_clear(&master->backup_device);

   328

    ec_device_clear(&master->main_device);

   329

}

   330

   331

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

   332

   333

#ifdef EC_EOE

   334

/** Clear and free all EoE handlers.

   335

 */

   336

void ec_master_clear_eoe_handlers(

   337

        ec_master_t *master /**< EtherCAT master */

   338

        )

   339

{

   340

    ec_eoe_t *eoe, *next;

   341

   342

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

   343

        list_del(&eoe->list);

   344

        ec_eoe_clear(eoe);

   345

        kfree(eoe);

   346

    }

   347

}

   348

#endif

   349

   350

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

   351

   352

/** Clear all slave configurations.

   353

 */

   354

void ec_master_clear_slave_configs(ec_master_t *master)

   355

{

   356

    ec_slave_config_t *sc, *next;

   357

   358

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

   359

        list_del(&sc->list);

   360

        ec_slave_config_clear(sc);

   361

        kfree(sc);

   362

    }

   363

}

   364

   365

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

   366

   367

/** Clear all slaves.

   368

 */

   369

void ec_master_clear_slaves(ec_master_t *master)

   370

{

   371

    ec_slave_t *slave;

   372

   373

    master->dc_ref_clock = NULL;

   374

   375

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

   376

    // them from the list

   377

    //

   378

    // SII requests

   379

    while (1) {

   380

        ec_sii_write_request_t *request;

   381

        if (list_empty(&master->sii_requests))

   382

            break;

   383

        // get first request

   384

        request = list_entry(master->sii_requests.next,

   385

                ec_sii_write_request_t, list);

   386

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

   387

        EC_INFO("Discarding SII request, slave %u does not exist anymore.\n",

   388

                request->slave->ring_position);

   389

        request->state = EC_INT_REQUEST_FAILURE;

   390

        wake_up(&master->sii_queue);

   391

    }

   392

   393

    // Register requests

   394

    while (1) {

   395

        ec_reg_request_t *request;

   396

        if (list_empty(&master->reg_requests))

   397

            break;

   398

        // get first request

   399

        request = list_entry(master->reg_requests.next,

   400

                ec_reg_request_t, list);

   401

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

   402

        EC_INFO("Discarding Reg request, slave %u does not exist anymore.\n",

   403

                request->slave->ring_position);

   404

        request->state = EC_INT_REQUEST_FAILURE;

   405

        wake_up(&master->reg_queue);

   406

    }

   407

   408

    for (slave = master->slaves;

   409

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

   410

            slave++) {

   411

        // SDO requests

   412

        while (1) {

   413

            ec_master_sdo_request_t *request;

   414

            if (list_empty(&slave->slave_sdo_requests))

   415

                break;

   416

            // get first request

   417

            request = list_entry(slave->slave_sdo_requests.next,

   418

                    ec_master_sdo_request_t, list);

   419

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

   420

            EC_INFO("Discarding SDO request, slave %u does not exist anymore.\n",

   421

                    slave->ring_position);

   422

            request->req.state = EC_INT_REQUEST_FAILURE;

   423

            wake_up(&slave->sdo_queue);

   424

        }

   425

        // FoE requests

   426

        while (1) {

   427

            ec_master_foe_request_t *request;

   428

            if (list_empty(&slave->foe_requests))

   429

                break;

   430

            // get first request

   431

            request = list_entry(slave->foe_requests.next,

   432

                    ec_master_foe_request_t, list);

   433

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

   434

            EC_INFO("Discarding FOE request, slave %u does not exist anymore.\n",

   435

                    slave->ring_position);

   436

            request->req.state = EC_INT_REQUEST_FAILURE;

   437

            wake_up(&slave->foe_queue);

   438

        }

   439

        ec_slave_clear(slave);

   440

    }

   441

   442

    if (master->slaves) {

   443

        kfree(master->slaves);

   444

        master->slaves = NULL;

   445

    }

   446

   447

    master->slave_count = 0;

   448

}

   449

   450

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

   451

   452

/** Clear all domains.

   453

 */

   454

void ec_master_clear_domains(ec_master_t *master)

   455

{

   456

    ec_domain_t *domain, *next;

   457

   458

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

   459

        list_del(&domain->list);

   460

        ec_domain_clear(domain);

   461

        kfree(domain);

   462

    }

   463

}

   464

   465

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

   466

   467

/** Internal sending callback.

   468

 */

   469

void ec_master_internal_send_cb(

   470

        void *cb_data /**< Callback data. */

   471

        )

   472

{

   473

    ec_master_t *master = (ec_master_t *) cb_data;

   474

    down(&master->io_sem);

   475

    ecrt_master_send_ext(master);

   476

    up(&master->io_sem);

   477

}

   478

   479

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

   480

   481

/** Internal receiving callback.

   482

 */

   483

void ec_master_internal_receive_cb(