1

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

     2

 *

     3

 *  $Id$

     4

 *

     5

 *  Copyright (C) 2006-2008  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

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 *  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

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 *  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

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 *  industrial property and similar rights of Beckhoff Automation GmbH.

    27

 *

    28

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

    29

    30

/**

    31

   \file

    32

   EtherCAT master methods.

    33

*/

    34

    35

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

    36

    37

#include <linux/module.h>

    38

#include <linux/kernel.h>

    39

#include <linux/string.h>

    40

#include <linux/slab.h>

    41

#include <linux/delay.h>

    42

#include <linux/device.h>

    43

#include <linux/version.h>

    44

    45

#include "globals.h"

    46

#include "slave.h"

    47

#include "slave_config.h"

    48

#include "device.h"

    49

#include "datagram.h"

    50

#ifdef EC_EOE

    51

#include "ethernet.h"

    52

#endif

    53

#include "master.h"

    54

    55

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

    56

    57

#ifdef EC_HAVE_CYCLES

    58

    59

/** Frame timeout in cycles.

    60

 */

    61

static cycles_t timeout_cycles;

    62

    63

#else

    64

    65

/** Frame timeout in jiffies.

    66

 */

    67

static unsigned long timeout_jiffies;

    68

    69

#endif

    70

    71

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

    72

    73

void ec_master_clear_slave_configs(ec_master_t *);

    74

void ec_master_clear_domains(ec_master_t *);

    75

static int ec_master_idle_thread(void *);

    76

static int ec_master_operation_thread(void *);

    77

#ifdef EC_EOE

    78

void ec_master_eoe_run(unsigned long);

    79

#endif

    80

    81

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

    82

    83

/** Static variables initializer.

    84

*/

    85

void ec_master_init_static(void)

    86

{

    87

#ifdef EC_HAVE_CYCLES

    88

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

    89

#else

    90

    // one jiffy may always elapse between time measurement

    91

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

    92

#endif

    93

}

    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

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

   104

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

   105

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

   106

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

   107

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

   108

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

   109

        )

   110

{

   111

    int ret;

   112

   113

    master->index = index;

   114

    master->reserved = 0;

   115

   116

    init_MUTEX(&master->master_sem);

   117

   118

    master->main_mac = main_mac;

   119

    master->backup_mac = backup_mac;

   120

    init_MUTEX(&master->device_sem);

   121

   122

    master->phase = EC_ORPHANED;

   123

    master->injection_seq_fsm = 0;

   124

    master->injection_seq_rt = 0;

   125

   126

    master->slaves = NULL;

   127

    master->slave_count = 0;

   128

   129

    INIT_LIST_HEAD(&master->configs);

   130

   131

    master->scan_busy = 0;

   132

    master->allow_scan = 1;

   133

    init_MUTEX(&master->scan_sem);

   134

    init_waitqueue_head(&master->scan_queue);

   135

   136

    master->config_busy = 0;

   137

    master->allow_config = 1;

   138

    init_MUTEX(&master->config_sem);

   139

    init_waitqueue_head(&master->config_queue);

   140

   141

    INIT_LIST_HEAD(&master->datagram_queue);

   142

    master->datagram_index = 0;

   143

   144

    INIT_LIST_HEAD(&master->domains);

   145

   146

    master->debug_level = debug_level;

   147

    master->stats.timeouts = 0;

   148

    master->stats.corrupted = 0;

   149

    master->stats.unmatched = 0;

   150

    master->stats.output_jiffies = 0;

   151

    master->frames_timed_out = 0;

   152

   153

    master->thread = NULL;

   154

   155

#ifdef EC_EOE

   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->sii_requests);

   169

    init_waitqueue_head(&master->sii_queue);

   170

   171

    INIT_LIST_HEAD(&master->slave_sdo_requests);

   172

    init_waitqueue_head(&master->sdo_queue);

   173

   174

    INIT_LIST_HEAD(&master->reg_requests);

   175

    init_waitqueue_head(&master->reg_queue);

   176

   177

    INIT_LIST_HEAD(&master->foe_requests);

   178

    init_waitqueue_head(&master->foe_queue);

   179

   180

    // init devices

   181

    ret = ec_device_init(&master->main_device, master);

   182

    if (ret < 0)

   183

        goto out_return;

   184

   185

    ret = ec_device_init(&master->backup_device, master);

   186

    if (ret < 0)

   187

        goto out_clear_main;

   188

   189

    // init state machine datagram

   190

    ec_datagram_init(&master->fsm_datagram);

   191

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

   192

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

   193

    if (ret < 0) {

   194

        ec_datagram_clear(&master->fsm_datagram);

   195

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

   196

        goto out_clear_backup;

   197

    }

   198

   199

    // create state machine object

   200

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

   201

   202

    // init reference sync datagram

   203

    ec_datagram_init(&master->ref_sync_datagram);

   204

    snprintf(master->ref_sync_datagram.name, EC_DATAGRAM_NAME_SIZE, "refsync");

   205

    ret = ec_datagram_apwr(&master->ref_sync_datagram, 0, 0x0910, 8);

   206

    if (ret < 0) {

   207

        ec_datagram_clear(&master->ref_sync_datagram);

   208

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

   209

        goto out_clear_fsm;

   210

    }

   211

   212

    // init sync datagram

   213

    ec_datagram_init(&master->sync_datagram);

   214

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

   215

    ret = ec_datagram_armw(&master->sync_datagram, 0 /* FIXME */, 0x0910, 4);

   216

    if (ret < 0) {

   217

        ec_datagram_clear(&master->sync_datagram);

   218

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

   219

        goto out_clear_ref_sync;

   220

    }

   221

   222

    // init character device

   223

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

   224

    if (ret)

   225

        goto out_clear_sync;

   226

   227

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

   228

    master->class_device = device_create(class, NULL,

   229

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

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

   231

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

   232

    master->class_device = device_create(class, NULL,

   233

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

   234

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

   235

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

   236

    master->class_device = class_device_create(class, NULL,

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

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

   239

#else

   240

    master->class_device = class_device_create(class,

   241

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

   242

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

   243

#endif

   244

    if (IS_ERR(master->class_device)) {

   245

        EC_ERR("Failed to create class device!\n");

   246

        ret = PTR_ERR(master->class_device);

   247

        goto out_clear_cdev;

   248

    }

   249

   250

    return 0;

   251

   252

out_clear_cdev:

   253

    ec_cdev_clear(&master->cdev);

   254

out_clear_sync:

   255

    ec_datagram_clear(&master->sync_datagram);

   256

out_clear_ref_sync:

   257

    ec_datagram_clear(&master->ref_sync_datagram);

   258

out_clear_fsm:

   259

    ec_fsm_master_clear(&master->fsm);

   260

    ec_datagram_clear(&master->fsm_datagram);

   261

out_clear_backup:

   262

    ec_device_clear(&master->backup_device);

   263

out_clear_main:

   264

    ec_device_clear(&master->main_device);

   265

out_return:

   266

    return ret;

   267

}

   268

   269

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

   270

   271

/** Destructor.

   272

*/

   273

void ec_master_clear(

   274

        ec_master_t *master /**< EtherCAT master */

   275

        )

   276

{

   277

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

   278

    device_unregister(master->class_device);

   279

#else

   280

    class_device_unregister(master->class_device);

   281

#endif

   282

   283

    ec_cdev_clear(&master->cdev);

   284

   285

#ifdef EC_EOE

   286

    ec_master_clear_eoe_handlers(master);

   287

#endif

   288

    ec_master_clear_domains(master);

   289

    ec_master_clear_slave_configs(master);

   290

    ec_master_clear_slaves(master);

   291

   292

    ec_datagram_clear(&master->sync_datagram);

   293

    ec_datagram_clear(&master->ref_sync_datagram);

   294

    ec_fsm_master_clear(&master->fsm);

   295

    ec_datagram_clear(&master->fsm_datagram);

   296

    ec_device_clear(&master->backup_device);

   297

    ec_device_clear(&master->main_device);

   298

}

   299

   300

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

   301

   302

#ifdef EC_EOE

   303

/** Clear and free all EoE handlers.

   304

 */

   305

void ec_master_clear_eoe_handlers(

   306

        ec_master_t *master /**< EtherCAT master */

   307

        )

   308

{

   309

    ec_eoe_t *eoe, *next;

   310

   311

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

   312

        list_del(&eoe->list);

   313

        ec_eoe_clear(eoe);

   314

        kfree(eoe);

   315

    }

   316

}

   317

#endif

   318

   319

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

   320

   321

/** Clear all slave configurations.

   322

 */

   323

void ec_master_clear_slave_configs(ec_master_t *master)

   324

{

   325

    ec_slave_config_t *sc, *next;

   326

   327

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

   328

        list_del(&sc->list);

   329

        ec_slave_config_clear(sc);

   330

        kfree(sc);

   331

    }

   332

}

   333

   334

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

   335

   336

/** Clear all slaves.

   337

 */

   338

void ec_master_clear_slaves(ec_master_t *master)

   339

{

   340

    ec_slave_t *slave;

   341

   342

    for (slave = master->slaves;

   343

            slave < master->slaves + master->slave_count;

   344

            slave++) {

   345

        ec_slave_clear(slave);

   346

    }

   347

   348

    if (master->slaves) {

   349

        kfree(master->slaves);

   350

        master->slaves = NULL;

   351

    }

   352

   353

    master->slave_count = 0;

   354

}

   355

   356

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

   357

   358

/** Clear all domains.

   359

 */

   360

void ec_master_clear_domains(ec_master_t *master)

   361

{

   362

    ec_domain_t *domain, *next;

   363

   364

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

   365

        list_del(&domain->list);

   366

        ec_domain_clear(domain);

   367

        kfree(domain);

   368

    }

   369

}

   370

   371

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

   372

   373

/** Internal locking callback.

   374

 */

   375

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

   376

{

   377

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

   378

    return 0;

   379

}

   380

   381

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

   382

   383

/** Internal unlocking callback.

   384

 */

   385

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

   386

{

   387

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

   388

}

   389

   390

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

   391

   392

/** Starts the master thread.

   393

 *

   394

 * \retval  0 Success.

   395

 * \retval <0 Error code.

   396

 */

   397

int ec_master_thread_start(

   398

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

   399

        int (*thread_func)(void *), /**< thread function to start */

   400

        const char *name /**< Thread name. */

   401

        )

   402

{

   403

    EC_INFO("Starting %s thread.\n", name);

   404

    master->thread = kthread_run(thread_func, master, name);

   405

    if (IS_ERR(master->thread)) {

   406

        int err = (int) PTR_ERR(master->thread);

   407

        EC_ERR("Failed to start master thread (error %i)!\n", err);

   408

        master->thread = NULL;

   409

        return err;

   410

    }

   411

   412

    return 0;

   413

}

   414

   415

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

   416

   417

/** Stops the master thread.

   418

 */

   419

void ec_master_thread_stop(

   420

        ec_master_t *master /**< EtherCAT master */

   421

        )

   422

{

   423

    unsigned long sleep_jiffies;

   424

   425

    if (!master->thread) {

   426

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

   427

        return;

   428

    }

   429

   430

    if (master->debug_level)

   431

        EC_DBG("Stopping master thread.\n");

   432

   433

    kthread_stop(master->thread);

   434

    master->thread = NULL;

   435

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

   436

   437

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

   438

        return;

   439

   440

    // wait for FSM datagram

   441

    sleep_jiffies = max(HZ / 100, 1); // 10 ms, at least 1 jiffy

   442

    schedule_timeout(sleep_jiffies);

   443

}

   444

   445

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

   446

   447

/** Transition function from ORPHANED to IDLE phase.

   448

 */

   449

int ec_master_enter_idle_phase(

   450

        ec_master_t *master /**< EtherCAT master */

   451

        )

   452

{

   453

    int ret;

   454

   455

    if (master->debug_level)

   456

        EC_DBG("ORPHANED -> IDLE.\n");

   457

   458

    master->request_cb = ec_master_request_cb;

   459

    master->release_cb = ec_master_release_cb;

   460

    master->cb_data = master;

   461

   462

    master->phase = EC_IDLE;

   463

    ret = ec_master_thread_start(master, ec_master_idle_thread,

   464

            "EtherCAT-IDLE");

   465

    if (ret)

   466

        master->phase = EC_ORPHANED;

   467

   468

    return ret;

   469

}

   470

   471

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

   472

   473

/** Transition function from IDLE to ORPHANED phase.

   474

 */

   475

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

   476

{

   477

    if (master->debug_level)

   478

        EC_DBG("IDLE -> ORPHANED.\n");

   479

   480

    master->phase = EC_ORPHANED;

   481

   482

#ifdef EC_EOE

   483

    ec_master_eoe_stop(master);