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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

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 *  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_idle_thread(ec_master_t *);

    61

static int ec_master_operation_thread(ec_master_t *);

    62

void ec_master_eoe_run(unsigned long);

    63

void ec_master_check_sdo(unsigned long);

    64

int ec_master_measure_bus_time(ec_master_t *);

    65

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

    66

ssize_t ec_store_master_attribute(struct kobject *, struct attribute *,

    67

                                  const char *, size_t);

    68

    69

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

    70

    71

/** \cond */

    72

    73

EC_SYSFS_READ_ATTR(info);

    74

EC_SYSFS_READ_WRITE_ATTR(debug_level);

    75

    76

static struct attribute *ec_def_attrs[] = {

    77

    &attr_info,

    78

    &attr_debug_level,

    79

    NULL,

    80

};

    81

    82

static struct sysfs_ops ec_sysfs_ops = {

    83

    .show = &ec_show_master_attribute,

    84

    .store = ec_store_master_attribute

    85

};

    86

    87

static struct kobj_type ktype_ec_master = {

    88

    .release = ec_master_clear,

    89

    .sysfs_ops = &ec_sysfs_ops,

    90

    .default_attrs = ec_def_attrs

    91

};

    92

    93

/** \endcond */

    94

    95

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

    96

    97

/**

    98

   Master constructor.

    99

   \return 0 in case of success, else < 0

   100

*/

   101

   102

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

   103

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

   104

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

   105

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

   106

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

   107

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

   108

        )

   109

{

   110

    ec_eoe_t *eoe, *next_eoe;

   111

    unsigned int i;

   112

   113

    atomic_set(&master->available, 1);

   114

    master->index = index;

   115

   116

    master->main_device_id = main_id;

   117

    master->backup_device_id = backup_id;

   118

    init_MUTEX(&master->device_sem);

   119

   120

    master->mode = EC_MASTER_MODE_ORPHANED;

   121

    master->injection_seq_fsm = 0;

   122

    master->injection_seq_rt = 0;

   123

   124

    INIT_LIST_HEAD(&master->slaves);

   125

    master->slave_count = 0;

   126

   127

    INIT_LIST_HEAD(&master->datagram_queue);

   128

    master->datagram_index = 0;

   129

   130

    INIT_LIST_HEAD(&master->domains);

   131

    master->debug_level = 0;

   132

   133

    master->stats.timeouts = 0;

   134

    master->stats.corrupted = 0;

   135

    master->stats.skipped = 0;

   136

    master->stats.unmatched = 0;

   137

    master->stats.output_jiffies = 0;

   138

   139

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

   140

        master->idle_cycle_times[i] = 0;

   141

        master->eoe_cycle_times[i] = 0;

   142

    }

   143

    master->idle_cycle_time_pos = 0;

   144

    master->eoe_cycle_time_pos = 0;

   145

   146

    init_timer(&master->eoe_timer);

   147

    master->eoe_timer.function = ec_master_eoe_run;

   148

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

   149

    master->eoe_running = 0;

   150

    master->eoe_checked = 0;

   151

    INIT_LIST_HEAD(&master->eoe_handlers);

   152

   153

    master->internal_lock = SPIN_LOCK_UNLOCKED;

   154

    master->request_cb = NULL;

   155

    master->release_cb = NULL;

   156

    master->cb_data = NULL;

   157

   158

    INIT_LIST_HEAD(&master->eeprom_requests);

   159

    init_MUTEX(&master->eeprom_sem);

   160

    init_waitqueue_head(&master->eeprom_queue);

   161

   162

    master->sdo_request = NULL;

   163

    master->sdo_seq_user = 0;

   164

    master->sdo_seq_master = 0;

   165

    init_MUTEX(&master->sdo_sem);

   166

    init_timer(&master->sdo_timer);

   167

    master->sdo_timer.function = ec_master_check_sdo;

   168

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

   169

    init_completion(&master->sdo_complete);

   170

   171

    // init devices

   172

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

   173

        goto out_return;

   174

   175

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

   176

        goto out_clear_main;

   177

   178

    // create EoE handlers

   179

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

   180

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

   181

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

   182

            goto out_clear_eoe;

   183

        }

   184

        if (ec_eoe_init(eoe)) {

   185

            kfree(eoe);

   186

            goto out_clear_eoe;

   187

        }

   188

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

   189

    }

   190

   191

    // init state machine datagram

   192

    ec_datagram_init(&master->fsm_datagram);

   193

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

   194

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

   195

        goto out_clear_eoe;

   196

    }

   197

   198

    // create state machine object

   199

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

   200

   201

    // init kobject and add it to the hierarchy

   202

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

   203

    kobject_init(&master->kobj);

   204

    master->kobj.ktype = &ktype_ec_master;

   205

    master->kobj.parent = module_kobj;

   206

   207

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

   208

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

   209

        kobject_put(&master->kobj);

   210

        return -1;

   211

    }

   212

   213

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

   214

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

   215

        kobject_put(&master->kobj);

   216

        return -1;

   217

    }

   218

   219

    return 0;

   220

   221

out_clear_eoe:

   222

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

   223

        list_del(&eoe->list);

   224

        ec_eoe_clear(eoe);

   225

        kfree(eoe);

   226

    }

   227

    ec_device_clear(&master->backup_device);

   228

out_clear_main:

   229

    ec_device_clear(&master->main_device);

   230

out_return:

   231

    return -1;

   232

}

   233

   234

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

   235

   236

/**

   237

   Master destructor.

   238

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

   239

*/

   240

   241

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

   242

{

   243

    ec_master_destroy_slaves(master);

   244

    ec_master_destroy_domains(master);

   245

   246

    // destroy self

   247

    kobject_del(&master->kobj);

   248

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

   249

}

   250

   251

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

   252

   253

/**

   254

   Clear and free master.

   255

   This method is called by the kobject,

   256

   once there are no more references to it.

   257

*/

   258

   259

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

   260

{

   261

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

   262

    ec_eoe_t *eoe, *next_eoe;

   263

    ec_datagram_t *datagram, *next_datagram;

   264

   265

    // list of EEPROM requests is empty,

   266

    // otherwise master could not be cleared.

   267

   268

    // dequeue all datagrams

   269

    list_for_each_entry_safe(datagram, next_datagram,

   270

                             &master->datagram_queue, queue) {

   271

        datagram->state = EC_DATAGRAM_ERROR;

   272

        list_del_init(&datagram->queue);

   273

    }

   274

   275

    ec_fsm_master_clear(&master->fsm);

   276

    ec_datagram_clear(&master->fsm_datagram);

   277

   278

    // clear EoE objects

   279

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

   280

        list_del(&eoe->list);

   281

        ec_eoe_clear(eoe);

   282

        kfree(eoe);

   283

    }

   284

   285

    ec_device_clear(&master->backup_device);

   286

    ec_device_clear(&master->main_device);

   287

   288

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

   289

   290

    kfree(master);

   291

}

   292

   293

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

   294

   295

/**

   296

   Destroy all slaves.

   297

*/

   298

   299

void ec_master_destroy_slaves(ec_master_t *master)

   300

{

   301

    ec_slave_t *slave, *next_slave;

   302

   303

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

   304

        list_del(&slave->list);

   305

        ec_slave_destroy(slave);

   306

    }

   307

   308

    master->slave_count = 0;

   309

}

   310

   311

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

   312

   313

/**

   314

   Destroy all domains.

   315

*/

   316

   317

void ec_master_destroy_domains(ec_master_t *master)

   318

{

   319

    ec_domain_t *domain, *next_d;

   320

   321

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

   322

        list_del(&domain->list);

   323

        ec_domain_destroy(domain);

   324

    }

   325

}

   326

   327

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

   328

   329

/**

   330

   Flushes the SDO request queue.

   331

*/

   332

   333

void ec_master_flush_sdo_requests(ec_master_t *master)

   334

{

   335

    del_timer_sync(&master->sdo_timer);

   336

    complete(&master->sdo_complete);

   337

    master->sdo_request = NULL;

   338

    master->sdo_seq_user = 0;

   339

    master->sdo_seq_master = 0;

   340

}

   341

   342

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

   343

   344

/**

   345

   Internal locking callback.

   346

*/

   347

   348

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

   349

{

   350

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

   351

    return 0;

   352

}

   353

   354

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

   355

   356

/**

   357

   Internal unlocking callback.

   358

*/

   359

   360

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

   361

{

   362

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

   363

}

   364

   365

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

   366

   367

/**

   368

 * Starts the master thread.

   369

*/

   370

   371

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

   372

{

   373

    int (*thread_func)(ec_master_t *);

   374

   375

    switch (master->mode) {

   376

        case EC_MASTER_MODE_IDLE:

   377

            thread_func = ec_master_idle_thread;

   378

            break;

   379

        case EC_MASTER_MODE_OPERATION:

   380

            thread_func = ec_master_operation_thread;

   381

            break;

   382

        default:

   383

            EC_ERR("Invalid master mode while starting thread!\n");

   384

            return -1;

   385

    }

   386

   387

    init_completion(&master->thread_exit);

   388

   389

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

   390

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

   391

                    master, CLONE_KERNEL)))

   392

        return -1;

   393

   394

    return 0;

   395

}

   396

   397

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

   398

   399

/**

   400

 * Stops the master thread.

   401

*/

   402

   403

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

   404

{

   405

    if (master->thread_id) {

   406

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

   407

        wait_for_completion(&master->thread_exit);

   408

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

   409

    }    

   410

}

   411

   412

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

   413

   414

/**

   415

 * Transition function from ORPHANED to IDLE mode.

   416

*/

   417

   418

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

   419

{

   420

    master->request_cb = ec_master_request_cb;

   421

    master->release_cb = ec_master_release_cb;

   422

    master->cb_data = master;

   423

   424

    master->mode = EC_MASTER_MODE_IDLE;

   425

    if (ec_master_thread_start(master)) {

   426

        master->mode = EC_MASTER_MODE_ORPHANED;

   427

        return -1;

   428

    }

   429

   430

    return 0;

   431

}

   432

   433

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

   434

   435

/**

   436

 * Transition function from IDLE to ORPHANED mode.

   437

*/

   438

   439

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

   440

{

   441

    master->mode = EC_MASTER_MODE_ORPHANED;

   442

   443

    ec_master_eoe_stop(master);

   444

    ec_master_thread_stop(master);

   445

    ec_master_flush_sdo_requests(master);

   446

    ec_master_destroy_slaves(master);

   447

}

   448

   449

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

   450

   451

/**

   452

 * Transition function from IDLE to OPERATION mode.

   453

*/

   454

   455

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

   456

{

   457

    ec_slave_t *slave;

   458

   459

    ec_master_eoe_stop(master); // stop EoE timer

   460

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

   461

    ec_master_thread_stop(master);

   462

   463

    master->mode = EC_MASTER_MODE_OPERATION;

   464

   465

    // wait for FSM datagram

   466

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

   467

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

   468

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

   469

        ecrt_master_receive(master);

   470

    }

   471

   472

    // finish running IDLE FSM

   473

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

   474

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

   475

            ec_master_queue_datagram(master, &master->fsm_datagram);

   476

            ec_master_sync_io(master);

   477

        }

   478

    }

   479

   480

    if (master->debug_level) {

   481

        if (ec_master_measure_bus_time(master)) {

   482

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

   483

            goto out_idle;

   484

        }

   485

    }

   486

   487

    // set initial slave states