1

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

     2

 *

     3

 *  $Id$

     4

 *

     5

 *  Copyright (C) 2006-2012  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

    11

 *  published by the Free Software Foundation.

    12

 *

    13

 *  The IgH EtherCAT Master is distributed in the hope that it will be useful,

    14

 *  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

 *  vim: expandtab

    29

 *

    30

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

    31

    32

/**

    33

   \file

    34

   EtherCAT master methods.

    35

*/

    36

    37

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

    38

    39

#include <linux/module.h>

    40

#include <linux/kernel.h>

    41

#include <linux/string.h>

    42

#include <linux/slab.h>

    43

#include <linux/delay.h>

    44

#include <linux/device.h>

    45

#include <linux/version.h>

    46

#include <linux/hrtimer.h>

    47

#include "globals.h"

    48

#include "slave.h"

    49

#include "slave_config.h"

    50

#include "device.h"

    51

#include "datagram.h"

    52

#ifdef EC_EOE

    53

#include "ethernet.h"

    54

#endif

    55

#include "master.h"

    56

    57

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

    58

    59

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

    60

 */

    61

#define DEBUG_INJECT 0

    62

    63

/** Always output corrupted frames.

    64

 */

    65

#define FORCE_OUTPUT_CORRUPTED 0

    66

    67

#ifdef EC_HAVE_CYCLES

    68

    69

/** Frame timeout in cycles.

    70

 */

    71

static cycles_t timeout_cycles;

    72

    73

/** Timeout for external datagram injection [cycles].

    74

 */

    75

static cycles_t ext_injection_timeout_cycles;

    76

    77

#else

    78

    79

/** Frame timeout in jiffies.

    80

 */

    81

static unsigned long timeout_jiffies;

    82

    83

/** Timeout for external datagram injection [jiffies].

    84

 */

    85

static unsigned long ext_injection_timeout_jiffies;

    86

    87

#endif

    88

    89

/** List of intervals for statistics [s].

    90

 */

    91

const unsigned int rate_intervals[] = {

    92

    1, 10, 60

    93

};

    94

    95

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

    96

    97

void ec_master_clear_slave_configs(ec_master_t *);

    98

void ec_master_clear_domains(ec_master_t *);

    99

static int ec_master_idle_thread(void *);

   100

static int ec_master_operation_thread(void *);

   101

#ifdef EC_EOE

   102

static int ec_master_eoe_thread(void *);

   103

#endif

   104

void ec_master_find_dc_ref_clock(ec_master_t *);

   105

void ec_master_clear_device_stats(ec_master_t *);

   106

void ec_master_update_device_stats(ec_master_t *);

   107

   108

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

   109

   110

/** Static variables initializer.

   111

*/

   112

void ec_master_init_static(void)

   113

{

   114

#ifdef EC_HAVE_CYCLES

   115

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

   116

    ext_injection_timeout_cycles =

   117

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

   118

#else

   119

    // one jiffy may always elapse between time measurement

   120

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

   121

    ext_injection_timeout_jiffies =

   122

        max(EC_SDO_INJECTION_TIMEOUT * HZ / 1000000, 1);

   123

#endif

   124

}

   125

   126

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

   127

   128

/**

   129

   Master constructor.

   130

   \return 0 in case of success, else < 0

   131

*/

   132

   133

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

   134

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

   135

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

   136

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

   137

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

   138

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

   139

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

   140

        )

   141

{

   142

    int ret;

   143

    unsigned int dev_idx, i;

   144

   145

    master->index = index;

   146

    master->reserved = 0;

   147

   148

    sema_init(&master->master_sem, 1);

   149

   150

    for (dev_idx = EC_DEVICE_MAIN; dev_idx < EC_MAX_NUM_DEVICES; dev_idx++) {

   151

        master->macs[dev_idx] = NULL;

   152

    }

   153

   154

    master->macs[EC_DEVICE_MAIN] = main_mac;

   155

   156

#if EC_MAX_NUM_DEVICES > 1

   157

    master->macs[EC_DEVICE_BACKUP] = backup_mac;

   158

    master->num_devices = 1 + !ec_mac_is_zero(backup_mac);

   159

#else

   160

    if (!ec_mac_is_zero(backup_mac)) {

   161

        EC_MASTER_WARN(master, "Ignoring backup MAC address!");

   162

    }

   163

#endif

   164

   165

    ec_master_clear_device_stats(master);

   166

   167

    sema_init(&master->device_sem, 1);

   168

   169

    master->phase = EC_ORPHANED;

   170

    master->active = 0;

   171

    master->config_changed = 0;

   172

    master->injection_seq_fsm = 0;

   173

    master->injection_seq_rt = 0;

   174

   175

    master->slaves = NULL;

   176

    master->slave_count = 0;

   177

   178

    INIT_LIST_HEAD(&master->configs);

   179

    INIT_LIST_HEAD(&master->domains);

   180

   181

    master->app_time = 0ULL;

   182

    master->app_start_time = 0ULL;

   183

    master->has_app_time = 0;

   184

   185

    master->scan_busy = 0;

   186

    master->allow_scan = 1;

   187

    sema_init(&master->scan_sem, 1);

   188

    init_waitqueue_head(&master->scan_queue);

   189

   190

    master->config_busy = 0;

   191

    sema_init(&master->config_sem, 1);

   192

    init_waitqueue_head(&master->config_queue);

   193

   194

    INIT_LIST_HEAD(&master->datagram_queue);

   195

    master->datagram_index = 0;

   196

   197

    INIT_LIST_HEAD(&master->ext_datagram_queue);

   198

    sema_init(&master->ext_queue_sem, 1);

   199

   200

    master->ext_ring_idx_rt = 0;

   201

    master->ext_ring_idx_fsm = 0;

   202

   203

    // init external datagram ring

   204

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

   205

        ec_datagram_t *datagram = &master->ext_datagram_ring[i];

   206

        ec_datagram_init(datagram);

   207

        snprintf(datagram->name, EC_DATAGRAM_NAME_SIZE, "ext-%u", i);

   208

    }

   209

   210

    // send interval in IDLE phase

   211

    ec_master_set_send_interval(master, 1000000 / HZ);

   212

   213

    master->fsm_slave = NULL;

   214

    INIT_LIST_HEAD(&master->fsm_exec_list);

   215

    master->fsm_exec_count = 0U;

   216

   217

    master->debug_level = debug_level;

   218

    master->stats.timeouts = 0;

   219

    master->stats.corrupted = 0;

   220

    master->stats.unmatched = 0;

   221

    master->stats.output_jiffies = 0;

   222

   223

    master->thread = NULL;

   224

   225

#ifdef EC_EOE

   226

    master->eoe_thread = NULL;

   227

    INIT_LIST_HEAD(&master->eoe_handlers);

   228

#endif

   229

   230

    sema_init(&master->io_sem, 1);

   231

    master->send_cb = NULL;

   232

    master->receive_cb = NULL;

   233

    master->cb_data = NULL;

   234

    master->app_send_cb = NULL;

   235

    master->app_receive_cb = NULL;

   236

    master->app_cb_data = NULL;

   237

   238

    INIT_LIST_HEAD(&master->sii_requests);

   239

    INIT_LIST_HEAD(&master->emerg_reg_requests);

   240

   241

    init_waitqueue_head(&master->request_queue);

   242

   243

    // init devices

   244

    for (dev_idx = EC_DEVICE_MAIN; dev_idx < ec_master_num_devices(master);

   245

            dev_idx++) {

   246

        ret = ec_device_init(&master->devices[dev_idx], master);

   247

        if (ret < 0) {

   248

            goto out_clear_devices;

   249

        }

   250

    }

   251

   252

    // init state machine datagram

   253

    ec_datagram_init(&master->fsm_datagram);

   254

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

   255

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

   256

    if (ret < 0) {

   257

        ec_datagram_clear(&master->fsm_datagram);

   258

        EC_MASTER_ERR(master, "Failed to allocate FSM datagram.\n");

   259

        goto out_clear_devices;

   260

    }

   261

   262

    // create state machine object

   263

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

   264

   265

    // alloc external datagram ring

   266

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

   267

        ec_datagram_t *datagram = &master->ext_datagram_ring[i];

   268

        ret = ec_datagram_prealloc(datagram, EC_MAX_DATA_SIZE);

   269

        if (ret) {

   270

            EC_MASTER_ERR(master, "Failed to allocate external"

   271

                    " datagram %u.\n", i);

   272

            goto out_clear_ext_datagrams;

   273

        }

   274

    }

   275

   276

    // init reference sync datagram

   277

    ec_datagram_init(&master->ref_sync_datagram);

   278

    snprintf(master->ref_sync_datagram.name, EC_DATAGRAM_NAME_SIZE,

   279

            "refsync");

   280

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

   281

    if (ret < 0) {

   282

        ec_datagram_clear(&master->ref_sync_datagram);

   283

        EC_MASTER_ERR(master, "Failed to allocate reference"

   284

                " synchronisation datagram.\n");

   285

        goto out_clear_ext_datagrams;

   286

    }

   287

   288

    // init sync datagram

   289

    ec_datagram_init(&master->sync_datagram);

   290

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

   291

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

   292

    if (ret < 0) {

   293

        ec_datagram_clear(&master->sync_datagram);

   294

        EC_MASTER_ERR(master, "Failed to allocate"

   295

                " synchronisation datagram.\n");

   296

        goto out_clear_ref_sync;

   297

    }

   298

   299

    // init sync monitor datagram

   300

    ec_datagram_init(&master->sync_mon_datagram);

   301

    snprintf(master->sync_mon_datagram.name, EC_DATAGRAM_NAME_SIZE,

   302

            "syncmon");

   303

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

   304

    if (ret < 0) {

   305

        ec_datagram_clear(&master->sync_mon_datagram);

   306

        EC_MASTER_ERR(master, "Failed to allocate sync"

   307

                " monitoring datagram.\n");

   308

        goto out_clear_sync;

   309

    }

   310

   311

    master->dc_ref_config = NULL;

   312

    master->dc_ref_clock = NULL;

   313

   314

    // init character device

   315

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

   316

    if (ret)

   317

        goto out_clear_sync_mon;

   318

   319

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

   320

    master->class_device = device_create(class, NULL,

   321

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

   322

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

   323

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

   324

    master->class_device = device_create(class, NULL,

   325

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

   326

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

   327

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

   328

    master->class_device = class_device_create(class, NULL,

   329

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

   330

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

   331

#else

   332

    master->class_device = class_device_create(class,

   333

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

   334

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

   335

#endif

   336

    if (IS_ERR(master->class_device)) {

   337

        EC_MASTER_ERR(master, "Failed to create class device!\n");

   338

        ret = PTR_ERR(master->class_device);

   339

        goto out_clear_cdev;

   340

    }

   341

   342

#ifdef EC_RTDM

   343

    // init RTDM device

   344

    ret = ec_rtdm_dev_init(&master->rtdm_dev, master);

   345

    if (ret) {

   346

        goto out_unregister_class_device;

   347

    }

   348

#endif

   349

   350

    return 0;

   351

   352

#ifdef EC_RTDM

   353

out_unregister_class_device:

   354

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

   355

    device_unregister(master->class_device);

   356

#else

   357

    class_device_unregister(master->class_device);

   358

#endif

   359

#endif

   360

out_clear_cdev:

   361

    ec_cdev_clear(&master->cdev);

   362

out_clear_sync_mon:

   363

    ec_datagram_clear(&master->sync_mon_datagram);

   364

out_clear_sync:

   365

    ec_datagram_clear(&master->sync_datagram);

   366

out_clear_ref_sync:

   367

    ec_datagram_clear(&master->ref_sync_datagram);

   368

out_clear_ext_datagrams:

   369

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

   370

        ec_datagram_clear(&master->ext_datagram_ring[i]);

   371

    }

   372

    ec_fsm_master_clear(&master->fsm);

   373

    ec_datagram_clear(&master->fsm_datagram);

   374

out_clear_devices:

   375

    for (; dev_idx > 0; dev_idx--) {

   376

        ec_device_clear(&master->devices[dev_idx - 1]);

   377

    }

   378

    return ret;

   379

}

   380

   381

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

   382

   383

/** Destructor.

   384

*/

   385

void ec_master_clear(

   386

        ec_master_t *master /**< EtherCAT master */

   387

        )

   388

{

   389

    unsigned int dev_idx, i;

   390

   391

#ifdef EC_RTDM

   392

    ec_rtdm_dev_clear(&master->rtdm_dev);

   393

#endif

   394

   395

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

   396

    device_unregister(master->class_device);

   397

#else

   398

    class_device_unregister(master->class_device);

   399

#endif

   400

   401

    ec_cdev_clear(&master->cdev);

   402

   403

#ifdef EC_EOE

   404

    ec_master_clear_eoe_handlers(master);

   405

#endif

   406

    ec_master_clear_domains(master);

   407

    ec_master_clear_slave_configs(master);

   408

    ec_master_clear_slaves(master);

   409

   410

    ec_datagram_clear(&master->sync_mon_datagram);

   411

    ec_datagram_clear(&master->sync_datagram);

   412

    ec_datagram_clear(&master->ref_sync_datagram);

   413

   414

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

   415

        ec_datagram_clear(&master->ext_datagram_ring[i]);

   416

    }

   417

   418

    ec_fsm_master_clear(&master->fsm);

   419

    ec_datagram_clear(&master->fsm_datagram);

   420

   421

    for (dev_idx = EC_DEVICE_MAIN; dev_idx < ec_master_num_devices(master);

   422

            dev_idx++) {

   423

        ec_device_clear(&master->devices[dev_idx]);

   424

    }

   425

}

   426

   427

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

   428

   429

#ifdef EC_EOE

   430

/** Clear and free all EoE handlers.

   431

 */

   432

void ec_master_clear_eoe_handlers(

   433

        ec_master_t *master /**< EtherCAT master */

   434

        )

   435

{

   436

    ec_eoe_t *eoe, *next;

   437

   438

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

   439

        list_del(&eoe->list);

   440

        ec_eoe_clear(eoe);

   441

        kfree(eoe);

   442

    }

   443

}

   444

#endif

   445

   446

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

   447

   448

/** Clear all slave configurations.

   449

 */

   450

void ec_master_clear_slave_configs(ec_master_t *master)

   451

{

   452

    ec_slave_config_t *sc, *next;

   453

   454

    master->dc_ref_config = NULL;

   455

    master->fsm.sdo_request = NULL; // mark sdo_request as invalid

   456

   457

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

   458

        list_del(&sc->list);

   459

        ec_slave_config_clear(sc);

   460

        kfree(sc);

   461

    }

   462

}

   463

   464

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

   465

   466

/** Clear all slaves.

   467

 */

   468

void ec_master_clear_slaves(ec_master_t *master)

   469

{

   470

    ec_slave_t *slave;

   471

   472

    master->dc_ref_clock = NULL;

   473

   474

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

   475

    // them from the list.

   476

   477

    while (!list_empty(&master->sii_requests)) {

   478

        ec_sii_write_request_t *request =

   479

            list_entry(master->sii_requests.next,

   480

                    ec_sii_write_request_t, list);

   481

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

   482

        EC_MASTER_WARN(master, "Discarding SII request, slave %u about"

   483

                " to be deleted.\n", request->slave->ring_position);

   484