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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

    27

 *  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.

    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

#ifdef EC_EOE

    54

#include "ethernet.h"

    55

#endif

    56

    57

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

    58

    59

void ec_master_destroy_domains(ec_master_t *);

    60

static int ec_master_idle_thread(ec_master_t *);

    61

static int ec_master_operation_thread(ec_master_t *);

    62

#ifdef EC_EOE

    63

void ec_master_eoe_run(unsigned long);

    64

#endif

    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 = NULL,

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

   106

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

   107

        )

   108

{

   109

    unsigned int i;

   110

   111

    master->index = index;

   112

    master->reserved = 0;

   113

   114

    master->main_mac = main_mac;

   115

    master->backup_mac = backup_mac;

   116

    init_MUTEX(&master->device_sem);

   117

   118

    master->mode = EC_MASTER_MODE_ORPHANED;

   119

    master->injection_seq_fsm = 0;

   120

    master->injection_seq_rt = 0;

   121

   122

    INIT_LIST_HEAD(&master->slaves);

   123

    master->slave_count = 0;

   124

   125

    master->scan_state = EC_REQUEST_IN_PROGRESS;

   126

    master->allow_scan = 1;

   127

    init_MUTEX(&master->scan_sem);

   128

    init_waitqueue_head(&master->scan_queue);

   129

   130

    master->config_state = EC_REQUEST_COMPLETE;

   131

    master->allow_config = 1;

   132

    init_MUTEX(&master->config_sem);

   133

    init_waitqueue_head(&master->config_queue);

   134

   135

    INIT_LIST_HEAD(&master->datagram_queue);

   136

    master->datagram_index = 0;

   137

   138

    INIT_LIST_HEAD(&master->domains);

   139

    master->debug_level = 0;

   140

   141

    master->stats.timeouts = 0;

   142

    master->stats.corrupted = 0;

   143

    master->stats.unmatched = 0;

   144

    master->stats.output_jiffies = 0;

   145

   146

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

   147

        master->idle_cycle_times[i] = 0;

   148

#ifdef EC_EOE

   149

        master->eoe_cycle_times[i] = 0;

   150

#endif

   151

    }

   152

    master->idle_cycle_time_pos = 0;

   153

#ifdef EC_EOE

   154

    master->eoe_cycle_time_pos = 0;

   155

   156

    init_timer(&master->eoe_timer);

   157

    master->eoe_timer.function = ec_master_eoe_run;

   158

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

   159

    master->eoe_running = 0;

   160

    INIT_LIST_HEAD(&master->eoe_handlers);

   161

#endif

   162

   163

    master->internal_lock = SPIN_LOCK_UNLOCKED;

   164

    master->request_cb = NULL;

   165

    master->release_cb = NULL;

   166

    master->cb_data = NULL;

   167

   168

    INIT_LIST_HEAD(&master->eeprom_requests);

   169

    init_MUTEX(&master->eeprom_sem);

   170

    init_waitqueue_head(&master->eeprom_queue);

   171

   172

    INIT_LIST_HEAD(&master->sdo_requests);

   173

    init_MUTEX(&master->sdo_sem);

   174

    init_waitqueue_head(&master->sdo_queue);

   175

   176

    // init devices

   177

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

   178

        goto out_return;

   179

   180

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

   181

        goto out_clear_main;

   182

   183

    // init state machine datagram

   184

    ec_datagram_init(&master->fsm_datagram);

   185

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

   186

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

   187

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

   188

        goto out_clear_backup;

   189

    }

   190

   191

    // create state machine object

   192

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

   193

   194

    // init kobject and add it to the hierarchy

   195

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

   196

    kobject_init(&master->kobj);

   197

    master->kobj.ktype = &ktype_ec_master;

   198

    master->kobj.parent = module_kobj;

   199

   200

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

   201

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

   202

        kobject_put(&master->kobj);

   203

        goto out_clear_fsm;

   204

    }

   205

   206

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

   207

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

   208

        kobject_put(&master->kobj);

   209

        goto out_clear_fsm;

   210

    }

   211

   212

    return 0;

   213

   214

out_clear_fsm:

   215

    ec_fsm_master_clear(&master->fsm);

   216

out_clear_backup:

   217

    ec_device_clear(&master->backup_device);

   218

out_clear_main:

   219

    ec_device_clear(&master->main_device);

   220

out_return:

   221

    return -1;

   222

}

   223

   224

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

   225

   226

/**

   227

   Clear and free master.

   228

   This method is called by the kobject,

   229

   once there are no more references to it.

   230

*/

   231

   232

void ec_master_clear(

   233

        ec_master_t *master /**< EtherCAT master */

   234

        )

   235

{

   236

#ifdef EC_EOE

   237

    ec_master_clear_eoe_handlers(master);

   238

#endif

   239

    ec_master_destroy_slaves(master);

   240

    ec_master_destroy_domains(master);

   241

    ec_fsm_master_clear(&master->fsm);

   242

    ec_datagram_clear(&master->fsm_datagram);

   243

    ec_device_clear(&master->backup_device);

   244

    ec_device_clear(&master->main_device);

   245

   246

    // destroy self

   247

    kobject_del(&master->kobj);

   248

    kobject_put(&master->kobj);

   249

}

   250

   251

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

   252

   253

#ifdef EC_EOE

   254

/**

   255

 * Clear and free all EoE handlers.

   256

 */

   257

   258

void ec_master_clear_eoe_handlers(

   259

        ec_master_t *master /**< EtherCAT master */

   260

        )

   261

{

   262

    ec_eoe_t *eoe, *next;

   263

   264

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

   265

        list_del(&eoe->list);

   266

        ec_eoe_clear(eoe);

   267

        kfree(eoe);

   268

    }

   269

}

   270

#endif

   271

   272

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

   273

   274

/**

   275

   Destroy all slaves.

   276

*/

   277

   278

void ec_master_destroy_slaves(ec_master_t *master)

   279

{

   280

    ec_slave_t *slave, *next_slave;

   281

   282

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

   283

        list_del(&slave->list);

   284

        ec_slave_destroy(slave);

   285

    }

   286

   287

    master->slave_count = 0;

   288

}

   289

   290

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

   291

   292

/**

   293

   Destroy all domains.

   294

*/

   295

   296

void ec_master_destroy_domains(ec_master_t *master)

   297

{

   298

    ec_domain_t *domain, *next_d;

   299

   300

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

   301

        list_del(&domain->list);

   302

        ec_domain_destroy(domain);

   303

    }

   304

}

   305

   306

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

   307

   308

/**

   309

   Internal locking callback.

   310

*/

   311

   312

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

   313

{

   314

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

   315

    return 0;

   316

}

   317

   318

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

   319

   320

/**

   321

   Internal unlocking callback.

   322

*/

   323

   324

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

   325

{

   326

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

   327

}

   328

   329

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

   330

   331

/**

   332

 * Starts the master thread.

   333

 */

   334

   335

int ec_master_thread_start(

   336

        ec_master_t *master, /**< EtherCAT master */

   337

        int (*thread_func)(ec_master_t *) /**< thread function to start */

   338

        )

   339

{

   340

    init_completion(&master->thread_exit);

   341

   342

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

   343

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

   344

                    master, CLONE_KERNEL)))

   345

        return -1;

   346

   347

    return 0;

   348

}

   349

   350

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

   351

   352

/**

   353

 * Stops the master thread.

   354

 */

   355

   356

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

   357

{

   358

    if (!master->thread_id) {

   359

        EC_WARN("ec_master_thread_stop: Already finished!\n");

   360

        return;

   361

    }

   362

   363

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

   364

    wait_for_completion(&master->thread_exit);

   365

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

   366

   367

    if (master->fsm_datagram.state != EC_DATAGRAM_SENT) return;

   368

   369

    // wait for FSM datagram

   370

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

   371

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

   372

        schedule();

   373

}

   374

   375

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

   376

   377

/**

   378

 * Transition function from ORPHANED to IDLE mode.

   379

 */

   380

   381

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

   382

{

   383

    master->request_cb = ec_master_request_cb;

   384

    master->release_cb = ec_master_release_cb;

   385

    master->cb_data = master;

   386

   387

    master->mode = EC_MASTER_MODE_IDLE;

   388

    if (ec_master_thread_start(master, ec_master_idle_thread)) {

   389

        master->mode = EC_MASTER_MODE_ORPHANED;

   390

        return -1;

   391

    }

   392

   393

    return 0;

   394

}

   395

   396

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

   397

   398

/**

   399

 * Transition function from IDLE to ORPHANED mode.

   400

 */

   401

   402

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

   403

{

   404

    master->mode = EC_MASTER_MODE_ORPHANED;

   405

   406

#ifdef EC_EOE

   407

    ec_master_eoe_stop(master);

   408

#endif

   409

    ec_master_thread_stop(master);

   410

    ec_master_destroy_slaves(master);

   411

}

   412

   413

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

   414

   415

/**

   416

 * Transition function from IDLE to OPERATION mode.

   417

 */

   418

   419

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

   420

{

   421

    ec_slave_t *slave;

   422

#ifdef EC_EOE

   423

    ec_eoe_t *eoe;

   424

#endif

   425

   426

    down(&master->config_sem);

   427

    master->allow_config = 0; // temporarily disable slave configuration

   428

    up(&master->config_sem);

   429

   430

    // wait for slave configuration to complete

   431

    if (wait_event_interruptible(master->config_queue,

   432

                master->config_state != EC_REQUEST_IN_PROGRESS)) {

   433

        EC_INFO("Finishing slave configuration interrupted by signal.\n");

   434

        goto out_allow;

   435

    }

   436

   437

    if (master->debug_level)

   438

        EC_DBG("Waiting for pending slave configuration returned.\n");

   439

   440

    down(&master->scan_sem);

   441

    master->allow_scan = 0; // 'lock' the slave list

   442

    up(&master->scan_sem);

   443

   444

    // wait for slave scan to complete

   445

    if (wait_event_interruptible(master->scan_queue,

   446

                master->scan_state != EC_REQUEST_IN_PROGRESS)) {

   447

        EC_INFO("Waiting for slave scan interrupted by signal.\n");

   448

        goto out_allow;

   449

    }

   450

   451

    if (master->debug_level)

   452

        EC_DBG("Waiting for pending slave scan returned.\n");

   453

   454

    // set states for all slaves

   455

    list_for_each_entry(slave, &master->slaves, list) {

   456

        ec_slave_request_state(slave, EC_SLAVE_STATE_PREOP);

   457

    }

   458

#ifdef EC_EOE

   459

    // ... but set EoE slaves to OP

   460

    list_for_each_entry(eoe, &master->eoe_handlers, list) {

   461

        if (ec_eoe_is_open(eoe))

   462

            ec_slave_request_state(eoe->slave, EC_SLAVE_STATE_OP);

   463

    }

   464

#endif

   465

   466

    if (master->debug_level)

   467

        EC_DBG("Switching to operation mode.\n");

   468

   469

    master->mode = EC_MASTER_MODE_OPERATION;

   470

    master->pdo_slaves_offline = 0; // assume all PDO slaves online

   471

    master->frames_timed_out = 0;

   472

    master->ext_request_cb = NULL;

   473

    master->ext_release_cb = NULL;

   474

    master->ext_cb_data = NULL;

   475

    return 0;

   476

   477

out_allow:

   478

    master->allow_scan = 1;

   479

    master->allow_config = 1;

   480

    return -1;

   481

}

   482

   483

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

   484

   485

/**

   486

 * Transition function from OPERATION to IDLE mode.

   487

 */