1

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

     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.

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 *

    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_sync_io(ec_master_t *);

    58

void ec_master_idle_run(void *);

    59

void ec_master_eoe_run(unsigned long);

    60

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

    61

ssize_t ec_store_master_attribute(struct kobject *, struct attribute *,

    62

                                  const char *, size_t);

    63

    64

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

    65

    66

/** \cond */

    67

    68

EC_SYSFS_READ_ATTR(info);

    69

EC_SYSFS_READ_WRITE_ATTR(eeprom_write_enable);

    70

EC_SYSFS_READ_WRITE_ATTR(debug_level);

    71

    72

static struct attribute *ec_def_attrs[] = {

    73

    &attr_info,

    74

    &attr_eeprom_write_enable,

    75

    &attr_debug_level,

    76

    NULL,

    77

};

    78

    79

static struct sysfs_ops ec_sysfs_ops = {

    80

    .show = &ec_show_master_attribute,

    81

    .store = ec_store_master_attribute

    82

};

    83

    84

static struct kobj_type ktype_ec_master = {

    85

    .release = ec_master_clear,

    86

    .sysfs_ops = &ec_sysfs_ops,

    87

    .default_attrs = ec_def_attrs

    88

};

    89

    90

/** \endcond */

    91

    92

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

    93

    94

/**

    95

   Master constructor.

    96

   \return 0 in case of success, else < 0

    97

*/

    98

    99

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

   100

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

   101

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

   102

                   )

   103

{

   104

    ec_eoe_t *eoe, *next_eoe;

   105

    unsigned int i;

   106

   107

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

   108

   109

    master->index = index;

   110

    master->device = NULL;

   111

    master->reserved = 0;

   112

    INIT_LIST_HEAD(&master->slaves);

   113

    INIT_LIST_HEAD(&master->datagram_queue);

   114

    INIT_LIST_HEAD(&master->domains);

   115

    INIT_LIST_HEAD(&master->eoe_handlers);

   116

    INIT_WORK(&master->idle_work, ec_master_idle_run, (void *) master);

   117

    init_timer(&master->eoe_timer);

   118

    master->eoe_timer.function = ec_master_eoe_run;

   119

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

   120

    master->internal_lock = SPIN_LOCK_UNLOCKED;

   121

    master->eoe_running = 0;

   122

    master->eoe_checked = 0;

   123

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

   124

        master->idle_cycle_times[i] = 0;

   125

        master->eoe_cycle_times[i] = 0;

   126

    }

   127

    master->idle_cycle_time_pos = 0;

   128

    master->eoe_cycle_time_pos = 0;

   129

   130

    // create workqueue

   131

    if (!(master->workqueue = create_singlethread_workqueue("EtherCAT"))) {

   132

        EC_ERR("Failed to create master workqueue.\n");

   133

        goto out_return;

   134

    }

   135

   136

    // create EoE handlers

   137

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

   138

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

   139

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

   140

            goto out_clear_eoe;

   141

        }

   142

        if (ec_eoe_init(eoe)) {

   143

            kfree(eoe);

   144

            goto out_clear_eoe;

   145

        }

   146

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

   147

    }

   148

   149

    // create state machine object

   150

    if (ec_fsm_init(&master->fsm, master)) goto out_clear_eoe;

   151

   152

    // init kobject and add it to the hierarchy

   153

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

   154

    kobject_init(&master->kobj);

   155

    master->kobj.ktype = &ktype_ec_master;

   156

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

   157

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

   158

        kobject_put(&master->kobj);

   159

        return -1;

   160

    }

   161

   162

    ec_master_reset(master);

   163

    return 0;

   164

   165

 out_clear_eoe:

   166

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

   167

        list_del(&eoe->list);

   168

        ec_eoe_clear(eoe);

   169

        kfree(eoe);

   170

    }

   171

    destroy_workqueue(master->workqueue);

   172

 out_return:

   173

    return -1;

   174

}

   175

   176

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

   177

   178

/**

   179

   Master destructor.

   180

   Removes all pending datagrams, clears the slave list, clears all domains

   181

   and frees the device.

   182

*/

   183

   184

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

   185

{

   186

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

   187

    ec_eoe_t *eoe, *next_eoe;

   188

   189

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

   190

   191

    ec_master_reset(master);

   192

    ec_fsm_clear(&master->fsm);

   193

    destroy_workqueue(master->workqueue);

   194

   195

    // clear EoE objects

   196

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

   197

        list_del(&eoe->list);

   198

        ec_eoe_clear(eoe);

   199

        kfree(eoe);

   200

    }

   201

   202

    if (master->device) {

   203

        ec_device_clear(master->device);

   204

        kfree(master->device);

   205

    }

   206

   207

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

   208

}

   209

   210

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

   211

   212

/**

   213

   Resets the master.

   214

   Note: This function has to be called, everytime ec_master_release() is

   215

   called, to free the slave list, domains etc.

   216

*/

   217

   218

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

   219

{

   220

    ec_datagram_t *datagram, *next_c;

   221

    ec_domain_t *domain, *next_d;

   222

   223

    ec_master_eoe_stop(master);

   224

    ec_master_idle_stop(master);

   225

    ec_master_clear_slaves(master);

   226

   227

    // empty datagram queue

   228

    list_for_each_entry_safe(datagram, next_c,

   229

                             &master->datagram_queue, queue) {

   230

        list_del_init(&datagram->queue);

   231

        datagram->state = EC_DATAGRAM_ERROR;

   232

    }

   233

   234

    // clear domains

   235

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

   236

        list_del(&domain->list);

   237

        kobject_del(&domain->kobj);

   238

        kobject_put(&domain->kobj);

   239

    }

   240

   241

    master->datagram_index = 0;

   242

    master->debug_level = 0;

   243

   244

    master->stats.timeouts = 0;

   245

    master->stats.delayed = 0;

   246

    master->stats.corrupted = 0;

   247

    master->stats.skipped = 0;

   248

    master->stats.unmatched = 0;

   249

    master->stats.t_last = 0;

   250

   251

    master->mode = EC_MASTER_MODE_ORPHANED;

   252

   253

    master->request_cb = NULL;

   254

    master->release_cb = NULL;

   255

    master->cb_data = NULL;

   256

   257

    master->eeprom_write_enable = 0;

   258

   259

    ec_fsm_reset(&master->fsm);

   260

}

   261

   262

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

   263

   264

/**

   265

   Clears all slaves.

   266

*/

   267

   268

void ec_master_clear_slaves(ec_master_t *master)

   269

{

   270

    ec_slave_t *slave, *next_slave;

   271

   272

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

   273

        list_del(&slave->list);

   274

        kobject_del(&slave->kobj);

   275

        kobject_put(&slave->kobj);

   276

    }

   277

    master->slave_count = 0;

   278

}

   279

   280

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

   281

   282

/**

   283

   Places a datagram in the datagram queue.

   284

*/

   285

   286

void ec_master_queue_datagram(ec_master_t *master, /**< EtherCAT master */

   287

                              ec_datagram_t *datagram /**< datagram */

   288

                              )

   289

{

   290

    ec_datagram_t *queued_datagram;

   291

   292

    // check, if the datagram is already queued

   293

    list_for_each_entry(queued_datagram, &master->datagram_queue, queue) {

   294

        if (queued_datagram == datagram) {

   295

            master->stats.skipped++;

   296

            ec_master_output_stats(master);

   297

            datagram->state = EC_DATAGRAM_QUEUED;

   298

            return;

   299

        }

   300

    }

   301

   302

    list_add_tail(&datagram->queue, &master->datagram_queue);

   303

    datagram->state = EC_DATAGRAM_QUEUED;

   304

}

   305

   306

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

   307

   308

/**

   309

   Sends the datagrams in the queue.

   310

   \return 0 in case of success, else < 0

   311

*/

   312

   313

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

   314

{

   315

    ec_datagram_t *datagram;

   316

    size_t datagram_size;

   317

    uint8_t *frame_data, *cur_data;

   318

    void *follows_word;

   319

    cycles_t t_start, t_end;

   320

    unsigned int frame_count, more_datagrams_waiting;

   321

   322

    frame_count = 0;

   323

    t_start = get_cycles();

   324

   325

    if (unlikely(master->debug_level > 1))

   326

        EC_DBG("ec_master_send_datagrams\n");

   327

   328

    do {

   329

        // fetch pointer to transmit socket buffer

   330

        frame_data = ec_device_tx_data(master->device);

   331

        cur_data = frame_data + EC_FRAME_HEADER_SIZE;

   332

        follows_word = NULL;

   333

        more_datagrams_waiting = 0;

   334

   335

        // fill current frame with datagrams

   336

        list_for_each_entry(datagram, &master->datagram_queue, queue) {

   337

            if (datagram->state != EC_DATAGRAM_QUEUED) continue;

   338

   339

            // does the current datagram fit in the frame?

   340

            datagram_size = EC_DATAGRAM_HEADER_SIZE + datagram->data_size

   341

                + EC_DATAGRAM_FOOTER_SIZE;

   342

            if (cur_data - frame_data + datagram_size > ETH_DATA_LEN) {

   343

                more_datagrams_waiting = 1;

   344

                break;

   345

            }

   346

   347

            datagram->state = EC_DATAGRAM_SENT;

   348

            datagram->t_sent = t_start;

   349

            datagram->index = master->datagram_index++;

   350

   351

            if (unlikely(master->debug_level > 1))

   352

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

   353

   354

            // set "datagram following" flag in previous frame

   355

            if (follows_word)

   356

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

   357

   358

            // EtherCAT datagram header

   359

            EC_WRITE_U8 (cur_data,     datagram->type);

   360

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

   361

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

   362

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

   363

            EC_WRITE_U16(cur_data + 8, 0x0000);

   364

            follows_word = cur_data + 6;

   365

            cur_data += EC_DATAGRAM_HEADER_SIZE;

   366

   367

            // EtherCAT datagram data

   368

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

   369

            cur_data += datagram->data_size;

   370

   371

            // EtherCAT datagram footer

   372

            EC_WRITE_U16(cur_data, 0x0000); // reset working counter

   373

            cur_data += EC_DATAGRAM_FOOTER_SIZE;

   374

        }

   375

   376

        if (cur_data - frame_data == EC_FRAME_HEADER_SIZE) {

   377

            if (unlikely(master->debug_level > 1))

   378

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

   379

            break;

   380

        }

   381

   382

        // EtherCAT frame header

   383

        EC_WRITE_U16(frame_data, ((cur_data - frame_data

   384

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

   385

   386

        // pad frame

   387

        while (cur_data - frame_data < ETH_ZLEN - ETH_HLEN)

   388

            EC_WRITE_U8(cur_data++, 0x00);

   389

   390

        if (unlikely(master->debug_level > 1))

   391

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

   392

   393

        // send frame

   394

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

   395

        frame_count++;

   396

    }

   397

    while (more_datagrams_waiting);

   398

   399

    if (unlikely(master->debug_level > 1)) {

   400

        t_end = get_cycles();

   401

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

   402

               frame_count, (unsigned int) (t_end - t_start) * 1000 / cpu_khz);

   403

    }

   404

}

   405

   406

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

   407

   408

/**

   409

   Processes a received frame.

   410

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

   411

   \return 0 in case of success, else < 0

   412

*/

   413

   414

void ec_master_receive_datagrams(ec_master_t *master, /**< EtherCAT master */

   415

                                 const uint8_t *frame_data, /**< frame data */

   416

                                 size_t size /**< size of the received data */

   417

                                 )

   418

{

   419

    size_t frame_size, data_size;

   420

    uint8_t datagram_type, datagram_index;

   421

    unsigned int cmd_follows, matched;

   422

    const uint8_t *cur_data;

   423

    ec_datagram_t *datagram;

   424

   425

    if (unlikely(size < EC_FRAME_HEADER_SIZE)) {

   426

        master->stats.corrupted++;

   427

        ec_master_output_stats(master);

   428

        return;

   429

    }

   430

   431

    cur_data = frame_data;

   432

   433

    // check length of entire frame

   434

    frame_size = EC_READ_U16(cur_data) & 0x07FF;

   435

    cur_data += EC_FRAME_HEADER_SIZE;

   436

   437

    if (unlikely(frame_size > size)) {

   438

        master->stats.corrupted++;

   439

        ec_master_output_stats(master);

   440

        return;

   441

    }

   442

   443

    cmd_follows = 1;

   444

    while (cmd_follows) {

   445

        // process datagram header

   446

        datagram_type  = EC_READ_U8 (cur_data);

   447

        datagram_index = EC_READ_U8 (cur_data + 1);

   448

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

   449

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

   450

        cur_data += EC_DATAGRAM_HEADER_SIZE;

   451

   452

        if (unlikely(cur_data - frame_data

   453

                     + data_size + EC_DATAGRAM_FOOTER_SIZE > size)) {

   454

            master->stats.corrupted++;

   455

            ec_master_output_stats(master);

   456

            return;

   457

        }

   458

   459

        // search for matching datagram in the queue

   460

        matched = 0;

   461

        list_for_each_entry(datagram, &master->datagram_queue, queue) {

   462

            if (datagram->state == EC_DATAGRAM_SENT

   463

                && datagram->type == datagram_type

   464

                && datagram->index == datagram_index

   465

                && datagram->data_size == data_size) {

   466

                matched = 1;

   467

                break;

   468

            }

   469

        }

   470

   471

        // no matching datagram was found

   472

        if (!matched) {

   473

            master->stats.unmatched++;

   474

            ec_master_output_stats(master);

   475

            cur_data += data_size + EC_DATAGRAM_FOOTER_SIZE;

   476

            continue;

   477

        }

   478

   479

        // copy received data in the datagram memory

   480

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

   481

        cur_data += data_size;

   482

   483

        // set the datagram's working counter

   484

        datagram->working_counter = EC_READ_U16(cur_data);

   485

        cur_data += EC_DATAGRAM_FOOTER_SIZE;