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,

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 *  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

 *

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 *  vim: expandtab

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 *

    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

#ifdef EC_HAVE_CYCLES

    64

    65

/** Frame timeout in cycles.

    66

 */

    67

static cycles_t timeout_cycles;

    68

    69

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

    70

 */

    71

static cycles_t ext_injection_timeout_cycles;

    72

    73

#else

    74

    75

/** Frame timeout in jiffies.

    76

 */

    77

static unsigned long timeout_jiffies;

    78

    79

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

    80

 */

    81

static unsigned long ext_injection_timeout_jiffies;

    82

    83

#endif

    84

    85

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

    86

 */

    87

const unsigned int rate_intervals[] = {

    88

    1, 10, 60

    89

};

    90

    91

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

    92

    93

void ec_master_clear_slave_configs(ec_master_t *);

    94

void ec_master_clear_domains(ec_master_t *);

    95

static int ec_master_idle_thread(void *);

    96

static int ec_master_operation_thread(void *);

    97

#ifdef EC_EOE

    98

static int ec_master_eoe_thread(void *);

    99

#endif

   100

void ec_master_find_dc_ref_clock(ec_master_t *);

   101

void ec_master_clear_device_stats(ec_master_t *);

   102

void ec_master_update_device_stats(ec_master_t *);

   103

   104

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

   105

   106

/** Static variables initializer.

   107

*/

   108

void ec_master_init_static(void)

   109

{

   110

#ifdef EC_HAVE_CYCLES

   111

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

   112

    ext_injection_timeout_cycles =

   113

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

   114

#else

   115

    // one jiffy may always elapse between time measurement

   116

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

   117

    ext_injection_timeout_jiffies =

   118

        max(EC_SDO_INJECTION_TIMEOUT * HZ / 1000000, 1);

   119

#endif

   120

}

   121

   122

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

   123

   124

/**

   125

   Master constructor.

   126

   \return 0 in case of success, else < 0

   127

*/

   128

   129

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

   130

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

   131

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

   132

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

   133

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

   134

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

   135

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

   136

        )

   137

{

   138

    int ret;

   139

   140

    master->index = index;

   141

    master->reserved = 0;

   142

   143

    sema_init(&master->master_sem, 1);

   144

   145

    master->macs[EC_DEVICE_MAIN] = main_mac;

   146

    master->macs[EC_DEVICE_BACKUP] = backup_mac;

   147

    ec_master_clear_device_stats(master);

   148

   149

    sema_init(&master->device_sem, 1);

   150

   151

    master->phase = EC_ORPHANED;

   152

    master->active = 0;

   153

    master->config_changed = 0;

   154

    master->injection_seq_fsm = 0;

   155

    master->injection_seq_rt = 0;

   156

   157

    master->slaves = NULL;

   158

    master->slave_count = 0;

   159

   160

    INIT_LIST_HEAD(&master->configs);

   161

   162

    master->app_time = 0ULL;

   163

    master->app_start_time = 0ULL;

   164

    master->has_app_time = 0;

   165

   166

    master->scan_busy = 0;

   167

    master->allow_scan = 1;

   168

    sema_init(&master->scan_sem, 1);

   169

    init_waitqueue_head(&master->scan_queue);

   170

   171

    master->config_busy = 0;

   172

    sema_init(&master->config_sem, 1);

   173

    init_waitqueue_head(&master->config_queue);

   174

   175

    INIT_LIST_HEAD(&master->datagram_queue);

   176

    master->datagram_index = 0;

   177

   178

    INIT_LIST_HEAD(&master->ext_datagram_queue);

   179

    sema_init(&master->ext_queue_sem, 1);

   180

   181

    INIT_LIST_HEAD(&master->external_datagram_queue);

   182

   183

    // send interval in IDLE phase

   184

    ec_master_set_send_interval(master, 1000000 / HZ);

   185

   186

    INIT_LIST_HEAD(&master->domains);

   187

   188

    master->debug_level = debug_level;

   189

    master->stats.timeouts = 0;

   190

    master->stats.corrupted = 0;

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    master->stats.unmatched = 0;

   192

    master->stats.output_jiffies = 0;

   193

   194

    master->thread = NULL;

   195

   196

#ifdef EC_EOE

   197

    master->eoe_thread = NULL;

   198

    INIT_LIST_HEAD(&master->eoe_handlers);

   199

#endif

   200

   201

    sema_init(&master->io_sem, 1);

   202

    master->send_cb = NULL;

   203

    master->receive_cb = NULL;

   204

    master->cb_data = NULL;

   205

    master->app_send_cb = NULL;

   206

    master->app_receive_cb = NULL;

   207

    master->app_cb_data = NULL;

   208

   209

    INIT_LIST_HEAD(&master->sii_requests);

   210

    init_waitqueue_head(&master->sii_queue);

   211

   212

    INIT_LIST_HEAD(&master->reg_requests);

   213

    init_waitqueue_head(&master->reg_queue);

   214

   215

    // init devices

   216

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

   217

    if (ret < 0)

   218

        goto out_return;

   219

   220

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

   221

    if (ret < 0)

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        goto out_clear_main;

   223

   224

    // init state machine datagram

   225

    ec_datagram_init(&master->fsm_datagram);

   226

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

   227

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

   228

    if (ret < 0) {

   229

        ec_datagram_clear(&master->fsm_datagram);

   230

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

   231

        goto out_clear_backup;

   232

    }

   233

   234

    // create state machine object

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

   236

   237

    // init reference sync datagram

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    ec_datagram_init(&master->ref_sync_datagram);

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    snprintf(master->ref_sync_datagram.name, EC_DATAGRAM_NAME_SIZE,

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            "refsync");

   241

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

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    if (ret < 0) {

   243

        ec_datagram_clear(&master->ref_sync_datagram);

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        EC_MASTER_ERR(master, "Failed to allocate reference"

   245

                " synchronisation datagram.\n");

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        goto out_clear_fsm;

   247

    }

   248

   249

    // init sync datagram

   250

    ec_datagram_init(&master->sync_datagram);

   251

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

   252

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

   253

    if (ret < 0) {

   254

        ec_datagram_clear(&master->sync_datagram);

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        EC_MASTER_ERR(master, "Failed to allocate"

   256

                " synchronisation datagram.\n");

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        goto out_clear_ref_sync;

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    }

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    // init sync monitor datagram

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    ec_datagram_init(&master->sync_mon_datagram);

   262

    snprintf(master->sync_mon_datagram.name, EC_DATAGRAM_NAME_SIZE,

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            "syncmon");

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

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    if (ret < 0) {

   266

        ec_datagram_clear(&master->sync_mon_datagram);

   267

        EC_MASTER_ERR(master, "Failed to allocate sync"

   268

                " monitoring datagram.\n");

   269

        goto out_clear_sync;

   270

    }

   271

   272

    ec_master_find_dc_ref_clock(master);

   273

   274

    // init character device

   275

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

   276

    if (ret)

   277

        goto out_clear_sync_mon;

   278

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

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    master->class_device = device_create(class, NULL,

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

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

   283

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

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    master->class_device = device_create(class, NULL,

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

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

   287

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

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    master->class_device = class_device_create(class, NULL,

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

   290

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

   291

#else

   292

    master->class_device = class_device_create(class,

   293

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

   294

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

   295

#endif

   296

    if (IS_ERR(master->class_device)) {

   297

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

   298

        ret = PTR_ERR(master->class_device);

   299

        goto out_clear_cdev;

   300

    }

   301

   302

    return 0;

   303

   304

out_clear_cdev:

   305

    ec_cdev_clear(&master->cdev);

   306

out_clear_sync_mon:

   307

    ec_datagram_clear(&master->sync_mon_datagram);

   308

out_clear_sync:

   309

    ec_datagram_clear(&master->sync_datagram);

   310

out_clear_ref_sync:

   311

    ec_datagram_clear(&master->ref_sync_datagram);

   312

out_clear_fsm:

   313

    ec_fsm_master_clear(&master->fsm);

   314

    ec_datagram_clear(&master->fsm_datagram);

   315

out_clear_backup:

   316

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

   317

out_clear_main:

   318

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

   319

out_return:

   320

    return ret;

   321

}

   322

   323

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

   324

   325

/** Destructor.

   326

*/

   327

void ec_master_clear(

   328

        ec_master_t *master /**< EtherCAT master */

   329

        )

   330

{

   331

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

   332

    device_unregister(master->class_device);

   333

#else

   334

    class_device_unregister(master->class_device);

   335

#endif

   336

   337

    ec_cdev_clear(&master->cdev);

   338

   339

#ifdef EC_EOE

   340

    ec_master_clear_eoe_handlers(master);

   341

#endif

   342

    ec_master_clear_domains(master);

   343

    ec_master_clear_slave_configs(master);

   344

    ec_master_clear_slaves(master);

   345

   346

    ec_datagram_clear(&master->sync_mon_datagram);

   347

    ec_datagram_clear(&master->sync_datagram);

   348

    ec_datagram_clear(&master->ref_sync_datagram);

   349

    ec_fsm_master_clear(&master->fsm);

   350

    ec_datagram_clear(&master->fsm_datagram);

   351

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

   352

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

   353

}

   354

   355

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

   356

   357

#ifdef EC_EOE

   358

/** Clear and free all EoE handlers.

   359

 */

   360

void ec_master_clear_eoe_handlers(

   361

        ec_master_t *master /**< EtherCAT master */

   362

        )

   363

{

   364

    ec_eoe_t *eoe, *next;

   365

   366

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

   367

        list_del(&eoe->list);

   368

        ec_eoe_clear(eoe);

   369

        kfree(eoe);

   370

    }

   371

}

   372

#endif

   373

   374

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

   375

   376

/** Clear all slave configurations.

   377

 */

   378

void ec_master_clear_slave_configs(ec_master_t *master)

   379

{

   380

    ec_slave_config_t *sc, *next;

   381

   382

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

   383

        list_del(&sc->list);

   384

        ec_slave_config_clear(sc);

   385

        kfree(sc);

   386

    }

   387

}

   388

   389

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

   390

   391

/** Clear all slaves.

   392

 */

   393

void ec_master_clear_slaves(ec_master_t *master)

   394

{

   395

    ec_slave_t *slave;

   396

   397

    master->dc_ref_clock = NULL;

   398

   399

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

   400

    // them from the list

   401

   402

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

   403

        ec_sii_write_request_t *request =

   404

            list_entry(master->sii_requests.next,

   405

                    ec_sii_write_request_t, list);

   406

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

   407

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

   408

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

   409

        request->state = EC_INT_REQUEST_FAILURE;

   410

        wake_up(&master->sii_queue);

   411

    }

   412

   413

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

   414

        ec_reg_request_t *request =

   415

            list_entry(master->reg_requests.next, ec_reg_request_t, list);

   416

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

   417

        EC_MASTER_WARN(master, "Discarding register request, slave %u"

   418

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

   419

        request->state = EC_INT_REQUEST_FAILURE;

   420

        wake_up(&master->reg_queue);

   421

    }

   422

   423

    for (slave = master->slaves;

   424

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

   425

            slave++) {

   426

        ec_slave_clear(slave);

   427

    }

   428

   429

    if (master->slaves) {

   430

        kfree(master->slaves);

   431

        master->slaves = NULL;

   432

    }

   433

   434

    master->slave_count = 0;

   435

}

   436

   437

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

   438

   439

/** Clear all domains.

   440

 */

   441

void ec_master_clear_domains(ec_master_t *master)

   442

{

   443

    ec_domain_t *domain, *next;

   444

   445

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

   446

        list_del(&domain->list);

   447

        ec_domain_clear(domain);

   448

        kfree(domain);

   449

    }

   450

}

   451

   452

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

   453

   454

/** Clear the configuration applied by the application.

   455

 */

   456

void ec_master_clear_config(

   457

        ec_master_t *master /**< EtherCAT master. */

   458

        )

   459

{

   460

    down(&master->master_sem);

   461

    ec_master_clear_domains(master);

   462

    ec_master_clear_slave_configs(master);

   463

    up(&master->master_sem);

   464

}

   465

   466

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

   467

   468

/** Internal sending callback.

   469

 */

   470

void ec_master_internal_send_cb(

   471

        void *cb_data /**< Callback data. */

   472

        )

   473

{

   474

    ec_master_t *master = (ec_master_t *) cb_data;

   475

    down(&master->io_sem);

   476

    ecrt_master_send_ext(master);

   477

    up(&master->io_sem);

   478

}

   479

   480

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

   481