1

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

     2

 *

     3

 *  m a s t e r . c

     4

 *

     5

 *  Methoden für einen EtherCAT-Master.

     6

 *

     7

 *  $Id$

     8

 *

     9

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

    10

    11

#include <linux/module.h>

    12

#include <linux/kernel.h>

    13

#include <linux/string.h>

    14

#include <linux/slab.h>

    15

#include <linux/delay.h>

    16

    17

#include "../include/ecrt.h"

    18

#include "globals.h"

    19

#include "master.h"

    20

#include "slave.h"

    21

#include "types.h"

    22

#include "device.h"

    23

#include "command.h"

    24

#include "ethernet.h"

    25

    26

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

    27

    28

ssize_t ec_show_master_attribute(struct kobject *, struct attribute *, char *);

    29

    30

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

    31

    32

EC_SYSFS_READ_ATTR(slave_count);

    33

    34

static struct attribute *ec_def_attrs[] = {

    35

    &attr_slave_count,

    36

    NULL,

    37

};

    38

    39

static struct sysfs_ops ec_sysfs_ops = {

    40

    .show = &ec_show_master_attribute,

    41

    .store = NULL

    42

};

    43

    44

static struct kobj_type ktype_ec_master = {

    45

    .release = ec_master_clear,

    46

    .sysfs_ops = &ec_sysfs_ops,

    47

    .default_attrs = ec_def_attrs

    48

};

    49

    50

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

    51

    52

/**

    53

   Konstruktor des EtherCAT-Masters.

    54

*/

    55

    56

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

    57

                   unsigned int index /**< Master-Index */

    58

                   )

    59

{

    60

    EC_INFO("Initializing master %i.\n", index);

    61

    62

    master->index = index;

    63

    master->device = NULL;

    64

    master->reserved = 0;

    65

    66

    INIT_LIST_HEAD(&master->slaves);

    67

    INIT_LIST_HEAD(&master->command_queue);

    68

    INIT_LIST_HEAD(&master->domains);

    69

    INIT_LIST_HEAD(&master->eoe_slaves);

    70

    71

    // Init kobject and add it to the hierarchy

    72

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

    73

    kobject_init(&master->kobj);

    74

    master->kobj.ktype = &ktype_ec_master;

    75

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

    76

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

    77

        kobject_put(&master->kobj);

    78

        return -1;

    79

    }

    80

    81

    ec_command_init(&master->simple_command);

    82

    ec_command_init(&master->watch_command);

    83

    84

    ec_master_reset(master);

    85

    return 0;

    86

}

    87

    88

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

    89

    90

/**

    91

   Destruktor eines EtherCAT-Masters.

    92

    93

   Entfernt alle Kommandos aus der Liste, löscht den Zeiger

    94

   auf das Slave-Array und gibt die Prozessdaten frei.

    95

*/

    96

    97

void ec_master_clear(struct kobject *kobj /**< KObject des Masters */)

    98

{

    99

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

   100

   101

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

   102

   103

    ec_master_reset(master);

   104

   105

    if (master->device) {

   106

        ec_device_clear(master->device);

   107

        kfree(master->device);

   108

    }

   109

   110

    ec_command_clear(&master->simple_command);

   111

    ec_command_clear(&master->watch_command);

   112

   113

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

   114

}

   115

   116

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

   117

   118

/**

   119

   Setzt den Master zurück in den Ausgangszustand.

   120

   121

   Bei einem "release" sollte immer diese Funktion aufgerufen werden,

   122

   da sonst Slave-Liste, Domains, etc. weiter existieren.

   123

*/

   124

   125

void ec_master_reset(ec_master_t *master

   126

                     /**< Zeiger auf den zurückzusetzenden Master */

   127

                     )

   128

{

   129

    ec_slave_t *slave, *next_s;

   130

    ec_command_t *command, *next_c;

   131

    ec_domain_t *domain, *next_d;

   132

    ec_eoe_t *eoe, *next_eoe;

   133

   134

    // Alle Slaves entfernen

   135

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

   136

        list_del(&slave->list);

   137

        kobject_del(&slave->kobj);

   138

        kobject_put(&slave->kobj);

   139

    }

   140

    master->slave_count = 0;

   141

   142

    // Kommando-Warteschlange leeren

   143

    list_for_each_entry_safe(command, next_c, &master->command_queue, queue) {

   144

        list_del_init(&command->queue);

   145

        command->state = EC_CMD_ERROR;

   146

    }

   147

   148

    // Domain-Liste leeren

   149

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

   150

        list_del(&domain->list);

   151

        kobject_del(&domain->kobj);

   152

        kobject_put(&domain->kobj);

   153

    }

   154

   155

    // EOE-Liste leeren

   156

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

   157

        list_del(&eoe->list);

   158

        ec_eoe_clear(eoe);

   159

        kfree(eoe);

   160

    }

   161

   162

    master->command_index = 0;

   163

    master->debug_level = 0;

   164

    master->timeout = 500; // 500us

   165

   166

    master->slaves_responding = 0;

   167

    master->slave_states = EC_SLAVE_STATE_UNKNOWN;

   168

   169

    master->stats.timeouts = 0;

   170

    master->stats.delayed = 0;

   171

    master->stats.corrupted = 0;

   172

    master->stats.unmatched = 0;

   173

    master->stats.eoe_errors = 0;

   174

    master->stats.t_last = 0;

   175

}

   176

   177

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

   178

   179

/**

   180

   Stellt ein Kommando in die Warteschlange.

   181

*/

   182

   183

void ec_master_queue_command(ec_master_t *master, /**< EtherCAT-Master */

   184

                             ec_command_t *command /**< Kommando */

   185

                             )

   186

{

   187

    ec_command_t *queued_command;

   188

   189

    // Ist das Kommando schon in der Warteschlange?

   190

    list_for_each_entry(queued_command, &master->command_queue, queue) {

   191

        if (queued_command == command) {

   192

            command->state = EC_CMD_QUEUED;

   193

            if (unlikely(master->debug_level))

   194

                EC_WARN("command already queued.\n");

   195

            return;

   196

        }

   197

    }

   198

   199

    list_add_tail(&command->queue, &master->command_queue);

   200

    command->state = EC_CMD_QUEUED;

   201

}

   202

   203

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

   204

   205

/**

   206

   Sendet die Kommandos in der Warteschlange.

   207

   208

   \return 0 bei Erfolg, sonst < 0

   209

*/

   210

   211

void ec_master_send_commands(ec_master_t *master /**< EtherCAT-Master */)

   212

{

   213

    ec_command_t *command;

   214

    size_t command_size;

   215

    uint8_t *frame_data, *cur_data;

   216

    void *follows_word;

   217

    cycles_t start = 0, end;

   218

    unsigned int frame_count, more_commands_waiting;

   219

   220

    frame_count = 0;

   221

   222

    if (unlikely(master->debug_level > 0)) {

   223

        EC_DBG("ec_master_send_commands\n");

   224

        start = get_cycles();

   225

    }

   226

   227

    do {

   228

        // Zeiger auf Socket-Buffer holen

   229

        frame_data = ec_device_tx_data(master->device);

   230

        cur_data = frame_data + EC_FRAME_HEADER_SIZE;

   231

        follows_word = NULL;

   232

        more_commands_waiting = 0;

   233

   234

        // Aktuellen Frame mit Kommandos füllen

   235

        list_for_each_entry(command, &master->command_queue, queue) {

   236

            if (command->state != EC_CMD_QUEUED) continue;

   237

   238

            // Passt das aktuelle Kommando noch in den aktuellen Rahmen?

   239

            command_size = EC_COMMAND_HEADER_SIZE + command->data_size

   240

                + EC_COMMAND_FOOTER_SIZE;

   241

            if (cur_data - frame_data + command_size > EC_MAX_FRAME_SIZE) {

   242

                more_commands_waiting = 1;

   243

                break;

   244

            }

   245

   246

            command->state = EC_CMD_SENT;

   247

            command->index = master->command_index++;

   248

   249

            if (unlikely(master->debug_level > 0))

   250

                EC_DBG("adding command 0x%02X\n", command->index);

   251

   252

            // Command-Following-Flag im letzten Kommando setzen

   253

            if (follows_word)

   254

                EC_WRITE_U16(follows_word, EC_READ_U16(follows_word) | 0x8000);

   255

   256

            // EtherCAT command header

   257

            EC_WRITE_U8 (cur_data,     command->type);

   258

            EC_WRITE_U8 (cur_data + 1, command->index);

   259

            EC_WRITE_U32(cur_data + 2, command->address.logical);

   260

            EC_WRITE_U16(cur_data + 6, command->data_size & 0x7FF);

   261

            EC_WRITE_U16(cur_data + 8, 0x0000);

   262

            follows_word = cur_data + 6;

   263

            cur_data += EC_COMMAND_HEADER_SIZE;

   264

   265

            // EtherCAT command data

   266

            memcpy(cur_data, command->data, command->data_size);

   267

            cur_data += command->data_size;

   268

   269

            // EtherCAT command footer

   270

            EC_WRITE_U16(cur_data, 0x0000); // Working counter

   271

            cur_data += EC_COMMAND_FOOTER_SIZE;

   272

        }

   273

   274

        if (cur_data - frame_data == EC_FRAME_HEADER_SIZE) {

   275

            if (unlikely(master->debug_level > 0))

   276

                EC_DBG("nothing to send.\n");

   277

            break;

   278

        }

   279

   280

        // EtherCAT frame header

   281

        EC_WRITE_U16(frame_data, ((cur_data - frame_data

   282

                                   - EC_FRAME_HEADER_SIZE) & 0x7FF) | 0x1000);

   283

   284

        // Rahmen auffüllen

   285

        while (cur_data - frame_data < EC_MIN_FRAME_SIZE)

   286

            EC_WRITE_U8(cur_data++, 0x00);

   287

   288

        if (unlikely(master->debug_level > 0))

   289

            EC_DBG("frame size: %i\n", cur_data - frame_data);

   290

   291

        // Send frame

   292

        ec_device_send(master->device, cur_data - frame_data);

   293

        frame_count++;

   294

    }

   295

    while (more_commands_waiting);

   296

   297

    if (unlikely(master->debug_level > 0)) {

   298

        end = get_cycles();

   299

        EC_DBG("ec_master_send_commands sent %i frames in %ius.\n",

   300

               frame_count, (u32) (end - start) * 1000 / cpu_khz);

   301

    }

   302

}

   303

   304

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

   305

   306

/**

   307

   Processes a received frame.

   308

   309

   This function is called by the network driver for every received frame.

   310

   311

   \return 0 bei Erfolg, sonst < 0

   312

*/

   313

   314

void ec_master_receive(ec_master_t *master, /**< EtherCAT-Master */

   315

                      const uint8_t *frame_data, /**< Empfangene Daten */

   316

                      size_t size /**< Anzahl empfangene Datenbytes */

   317

                      )

   318

{

   319

    size_t frame_size, data_size;

   320

    uint8_t command_type, command_index;

   321

    unsigned int cmd_follows, matched;

   322

    const uint8_t *cur_data;

   323

    ec_command_t *command;

   324

   325

    if (unlikely(size < EC_FRAME_HEADER_SIZE)) {

   326

        master->stats.corrupted++;

   327

        ec_master_output_stats(master);

   328

        return;

   329

    }

   330

   331

    cur_data = frame_data;

   332

   333

    // Länge des gesamten Frames prüfen

   334

    frame_size = EC_READ_U16(cur_data) & 0x07FF;

   335

    cur_data += EC_FRAME_HEADER_SIZE;

   336

   337

    if (unlikely(frame_size > size)) {

   338

        master->stats.corrupted++;

   339

        ec_master_output_stats(master);

   340

        return;

   341

    }

   342

   343

    cmd_follows = 1;

   344

    while (cmd_follows) {

   345

        // Kommando-Header auswerten

   346

        command_type  = EC_READ_U8 (cur_data);

   347

        command_index = EC_READ_U8 (cur_data + 1);

   348

        data_size     = EC_READ_U16(cur_data + 6) & 0x07FF;

   349

        cmd_follows   = EC_READ_U16(cur_data + 6) & 0x8000;

   350

        cur_data += EC_COMMAND_HEADER_SIZE;

   351

   352

        if (unlikely(cur_data - frame_data

   353

                     + data_size + EC_COMMAND_FOOTER_SIZE > size)) {

   354

            master->stats.corrupted++;

   355

            ec_master_output_stats(master);

   356

            return;

   357

        }

   358

   359

        // Suche passendes Kommando in der Liste

   360

        matched = 0;

   361

        list_for_each_entry(command, &master->command_queue, queue) {

   362

            if (command->state == EC_CMD_SENT

   363

                && command->type == command_type

   364

                && command->index == command_index

   365

                && command->data_size == data_size) {

   366

                matched = 1;

   367

                break;

   368

            }

   369

        }

   370

   371

        // Kein passendes Kommando in der Liste gefunden

   372

        if (!matched) {

   373

            master->stats.unmatched++;

   374

            ec_master_output_stats(master);

   375

            cur_data += data_size + EC_COMMAND_FOOTER_SIZE;

   376

            continue;

   377

        }

   378

   379

        // Empfangene Daten in Kommando-Datenspeicher kopieren

   380

        memcpy(command->data, cur_data, data_size);

   381

        cur_data += data_size;

   382

   383

        // Working-Counter setzen

   384

        command->working_counter = EC_READ_U16(cur_data);

   385

        cur_data += EC_COMMAND_FOOTER_SIZE;

   386

   387

        // Kommando aus der Warteschlange entfernen

   388

        command->state = EC_CMD_RECEIVED;

   389

        list_del_init(&command->queue);

   390

    }

   391

}

   392

   393

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

   394

   395

/**

   396

   Sendet ein einzelnes Kommando und wartet auf den Empfang.

   397

   398

   Wenn der Slave nicht antwortet, wird das Kommando

   399

   nochmals gesendet.

   400

   401

   \return 0 bei Erfolg, sonst < 0

   402

*/

   403

   404

int ec_master_simple_io(ec_master_t *master, /**< EtherCAT-Master */

   405

                        ec_command_t *command /**< Kommando */

   406

                        )

   407

{

   408

    unsigned int response_tries_left;

   409

   410

    response_tries_left = 10;

   411

   412

    while (1)

   413

    {

   414

        ec_master_queue_command(master, command);

   415

        ecrt_master_sync_io(master);

   416

   417

        if (command->state == EC_CMD_RECEIVED) {

   418

            if (likely(command->working_counter))

   419

                return 0;

   420

        }

   421

        else if (command->state == EC_CMD_TIMEOUT) {

   422

            EC_ERR("Simple-IO TIMEOUT!\n");

   423

            return -1;

   424

        }

   425

        else if (command->state == EC_CMD_ERROR) {

   426

            EC_ERR("Simple-IO command error!\n");

   427

            return -1;

   428

        }

   429

   430

        // Keine direkte Antwort. Dem Slave Zeit lassen...

   431

        udelay(100);

   432

   433

        if (unlikely(--response_tries_left)) {

   434

            EC_ERR("No response in simple-IO!\n");

   435

            return -1;

   436

        }

   437

    }

   438

}

   439

   440

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

   441

   442

/**

   443

   Durchsucht den EtherCAT-Bus nach Slaves.

   444

   445

   Erstellt ein Array mit allen Slave-Informationen die für den

   446

   weiteren Betrieb notwendig sind.

   447

   448

   \return 0 bei Erfolg, sonst < 0

   449

*/

   450

   451

int ec_master_bus_scan(ec_master_t *master /**< EtherCAT-Master */)

   452

{

   453

    ec_slave_t *slave, *next;

   454

    ec_slave_ident_t *ident;

   455

    unsigned int i;

   456

    ec_command_t *command;

   457

    ec_eoe_t *eoe;

   458

    uint16_t coupler_index, coupler_subindex;

   459

    uint16_t reverse_coupler_index, current_coupler_index;

   460

   461

    if (!list_empty(&master->slaves)) {

   462

        EC_ERR("Slave scan already done!\n");

   463

        return -1;

   464

    }

   465

   466

    command = &master->simple_command;

   467

   468

    // Determine number of slaves on bus

   469

    if (ec_command_brd(command, 0x0000, 4)) return -1;

   470

    if (unlikely(ec_master_simple_io(master, command))) return -1;

   471

    master->slave_count = command->working_counter;

   472

    EC_INFO("Found %i slaves on bus.\n", master->slave_count);

   473

   474

    if (!master->slave_count) return 0;

   475

   476

    // Init slaves

   477

    for (i = 0; i < master->slave_count; i++) {

   478

        if (!(slave = (ec_slave_t *) kmalloc(sizeof(ec_slave_t), GFP_KERNEL))) {

   479

            EC_ERR("Failed to allocate slave %i!\n", i);

   480

            goto out_free;

   481

        }

   482

   483

        if (ec_slave_init(slave, master, i, i + 1)) goto out_free;

   484

   485

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

   486

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

   487

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

   488

            goto out_free;

   489

        }

   490