1

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

     2

 *

     3

 *  m a s t e r . c

     4

 *

     5

 *  Methoden für einen EtherCAT-Master.

     6

 *

     7

 *  $Id$

     8

 *

     9

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

    10

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#include <linux/module.h>

    12

#include <linux/kernel.h>

    13

#include <linux/string.h>

    14

#include <linux/slab.h>

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#include <linux/delay.h>

    16

    17

#include "../include/ecrt.h"

    18

#include "globals.h"

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#include "master.h"

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#include "slave.h"

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#include "types.h"

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#include "device.h"

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#include "command.h"

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#include "ethernet.h"

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    26

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

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    29

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

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

    32

    33

EC_SYSFS_READ_ATTR(slave_count);

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    36

static struct attribute *ec_def_attrs[] = {

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    &attr_slave_count,

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    NULL,

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};

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static struct sysfs_ops ec_sysfs_ops = {

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    .show = &ec_show_master_attribute,

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    .store = NULL

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};

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static struct kobj_type ktype_ec_master = {

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    .release = ec_master_clear,

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    .sysfs_ops = &ec_sysfs_ops,

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    .default_attrs = ec_def_attrs

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};

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

    54

    55

/**

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   Konstruktor des EtherCAT-Masters.

    57

*/

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

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                   unsigned int index /**< Master-Index */

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                   )

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{

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

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    master->index = index;

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    master->device = NULL;

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    master->reserved = 0;

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    INIT_LIST_HEAD(&master->slaves);

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    INIT_LIST_HEAD(&master->command_queue);

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    INIT_LIST_HEAD(&master->domains);

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    INIT_LIST_HEAD(&master->eoe_slaves);

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    // Init kobject and add it to the hierarchy

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

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    kobject_init(&master->kobj);

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    master->kobj.ktype = &ktype_ec_master;

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

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

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        kobject_put(&master->kobj);

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        return -1;

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    }

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    ec_command_init(&master->simple_command);

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    ec_command_init(&master->watch_command);

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    ec_master_reset(master);

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    return 0;

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}

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

    97

    98

/**

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   Destruktor eines EtherCAT-Masters.

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   Entfernt alle Kommandos aus der Liste, löscht den Zeiger

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   auf das Slave-Array und gibt die Prozessdaten frei.

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*/

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void ec_master_clear(struct kobject *kobj /**< KObject des Masters */)

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{

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

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

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    ec_master_reset(master);

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    if (master->device) {

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        ec_device_clear(master->device);

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        kfree(master->device);

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    }

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    ec_command_clear(&master->simple_command);

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    ec_command_clear(&master->watch_command);

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

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}

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

   127

   128

/**

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   Setzt den Master zurück in den Ausgangszustand.

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   131

   Bei einem "release" sollte immer diese Funktion aufgerufen werden,

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   da sonst Slave-Liste, Domains, etc. weiter existieren.

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*/

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   135

void ec_master_reset(ec_master_t *master

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                     /**< Zeiger auf den zurückzusetzenden Master */

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                     )

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{

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    ec_slave_t *slave, *next_s;

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    ec_command_t *command, *next_c;

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    ec_domain_t *domain, *next_d;

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    ec_eoe_t *eoe, *next_eoe;

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    // Alle Slaves entfernen

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

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        list_del(&slave->list);

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        kobject_del(&slave->kobj);

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        kobject_put(&slave->kobj);

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    }

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    master->slave_count = 0;

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    // Kommando-Warteschlange leeren

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    list_for_each_entry_safe(command, next_c, &master->command_queue, queue) {

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        list_del_init(&command->queue);

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        command->state = EC_CMD_ERROR;

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    }

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    // Domain-Liste leeren

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

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        list_del(&domain->list);

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        kobject_del(&domain->kobj);

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        kobject_put(&domain->kobj);

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    }

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    // EOE-Liste leeren

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

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        list_del(&eoe->list);

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        ec_eoe_clear(eoe);

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        kfree(eoe);

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    }

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    master->command_index = 0;

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    master->debug_level = 0;

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    master->timeout = 500; // 500us

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    master->slaves_responding = 0;

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    master->slave_states = EC_SLAVE_STATE_UNKNOWN;

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    master->stats.timeouts = 0;

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    master->stats.delayed = 0;

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    master->stats.corrupted = 0;

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    master->stats.unmatched = 0;

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    master->stats.eoe_errors = 0;

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    master->stats.t_last = 0;

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}

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

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/**

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   Stellt ein Kommando in die Warteschlange.

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*/

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void ec_master_queue_command(ec_master_t *master, /**< EtherCAT-Master */

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                             ec_command_t *command /**< Kommando */

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                             )

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{

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    ec_command_t *queued_command;

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    // Ist das Kommando schon in der Warteschlange?

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    list_for_each_entry(queued_command, &master->command_queue, queue) {

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        if (queued_command == command) {

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            command->state = EC_CMD_QUEUED;

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            if (unlikely(master->debug_level))

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                EC_WARN("command already queued.\n");

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            return;

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        }

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    }

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    list_add_tail(&command->queue, &master->command_queue);

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    command->state = EC_CMD_QUEUED;

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}

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

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/**

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   Sendet die Kommandos in der Warteschlange.

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   \return 0 bei Erfolg, sonst < 0

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*/

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void ec_master_send_commands(ec_master_t *master /**< EtherCAT-Master */)

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{

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    ec_command_t *command;

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    size_t command_size;

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    uint8_t *frame_data, *cur_data;

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    void *follows_word;

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    cycles_t start = 0, end;

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    unsigned int frame_count, more_commands_waiting;

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    frame_count = 0;

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    if (unlikely(master->debug_level > 0)) {

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        EC_DBG("ec_master_send_commands\n");

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        start = get_cycles();

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    }

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    do {

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        // Zeiger auf Socket-Buffer holen

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        frame_data = ec_device_tx_data(master->device);

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        cur_data = frame_data + EC_FRAME_HEADER_SIZE;

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        follows_word = NULL;

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        more_commands_waiting = 0;

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        // Aktuellen Frame mit Kommandos füllen

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        list_for_each_entry(command, &master->command_queue, queue) {

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            if (command->state != EC_CMD_QUEUED) continue;

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            // Passt das aktuelle Kommando noch in den aktuellen Rahmen?

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            command_size = EC_COMMAND_HEADER_SIZE + command->data_size

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                + EC_COMMAND_FOOTER_SIZE;

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            if (cur_data - frame_data + command_size > EC_MAX_FRAME_SIZE) {

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                more_commands_waiting = 1;

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                break;

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            }

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            command->state = EC_CMD_SENT;

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            command->index = master->command_index++;

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            if (unlikely(master->debug_level > 0))

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

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            // Command-Following-Flag im letzten Kommando setzen

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            if (follows_word)

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

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            // EtherCAT command header

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            EC_WRITE_U8 (cur_data,     command->type);

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

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

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

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            EC_WRITE_U16(cur_data + 8, 0x0000);

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            follows_word = cur_data + 6;

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            cur_data += EC_COMMAND_HEADER_SIZE;

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            // EtherCAT command data

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

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            cur_data += command->data_size;

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            // EtherCAT command footer

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            EC_WRITE_U16(cur_data, 0x0000); // Working counter

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            cur_data += EC_COMMAND_FOOTER_SIZE;

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        }

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        if (cur_data - frame_data == EC_FRAME_HEADER_SIZE) {

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            if (unlikely(master->debug_level > 0))

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

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            break;

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        }

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        // EtherCAT frame header

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        EC_WRITE_U16(frame_data, ((cur_data - frame_data

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

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        // Rahmen auffüllen

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        while (cur_data - frame_data < EC_MIN_FRAME_SIZE)

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            EC_WRITE_U8(cur_data++, 0x00);

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        if (unlikely(master->debug_level > 0))

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

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        // Send frame

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

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        frame_count++;

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    }

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    while (more_commands_waiting);

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   311

    if (unlikely(master->debug_level > 0)) {

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        end = get_cycles();

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

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               frame_count, (u32) (end - start) * 1000 / cpu_khz);

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    }

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}

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

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/**

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   Processes a received frame.

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

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   \return 0 bei Erfolg, sonst < 0

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*/

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void ec_master_receive(ec_master_t *master, /**< EtherCAT-Master */

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                      const uint8_t *frame_data, /**< Empfangene Daten */

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                      size_t size /**< Anzahl empfangene Datenbytes */

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                      )

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{

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    size_t frame_size, data_size;

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    uint8_t command_type, command_index;

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    unsigned int cmd_follows, matched;

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    const uint8_t *cur_data;

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    ec_command_t *command;

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    if (unlikely(size < EC_FRAME_HEADER_SIZE)) {

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        master->stats.corrupted++;

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        ec_master_output_stats(master);

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        return;

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    }

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    cur_data = frame_data;

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    // Länge des gesamten Frames prüfen

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    frame_size = EC_READ_U16(cur_data) & 0x07FF;

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    cur_data += EC_FRAME_HEADER_SIZE;

   350

   351

    if (unlikely(frame_size > size)) {

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        master->stats.corrupted++;

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        ec_master_output_stats(master);

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        return;

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    }

   356

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    cmd_follows = 1;

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    while (cmd_follows) {

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        // Kommando-Header auswerten

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        command_type  = EC_READ_U8 (cur_data);

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        command_index = EC_READ_U8 (cur_data + 1);

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

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

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        cur_data += EC_COMMAND_HEADER_SIZE;

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        if (unlikely(cur_data - frame_data

   367

                     + data_size + EC_COMMAND_FOOTER_SIZE > size)) {

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            master->stats.corrupted++;

   369

            ec_master_output_stats(master);

   370

            return;

   371

        }

   372

   373

        // Suche passendes Kommando in der Liste

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        matched = 0;

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        list_for_each_entry(command, &master->command_queue, queue) {

   376

            if (command->state == EC_CMD_SENT

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                && command->type == command_type

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                && command->index == command_index

   379

                && command->data_size == data_size) {

   380

                matched = 1;

   381

                break;

   382

            }

   383

        }

   384

   385

        // Kein passendes Kommando in der Liste gefunden

   386

        if (!matched) {

   387

            master->stats.unmatched++;

   388

            ec_master_output_stats(master);

   389

            cur_data += data_size + EC_COMMAND_FOOTER_SIZE;

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            continue;

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        }

   392

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        // Empfangene Daten in Kommando-Datenspeicher kopieren

   394

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

   395

        cur_data += data_size;

   396

   397

        // Working-Counter setzen

   398

        command->working_counter = EC_READ_U16(cur_data);

   399

        cur_data += EC_COMMAND_FOOTER_SIZE;

   400

   401

        // Kommando aus der Warteschlange entfernen

   402

        command->state = EC_CMD_RECEIVED;

   403

        list_del_init(&command->queue);

   404

    }

   405

}

   406

   407

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

   408

   409

/**

   410

   Sendet ein einzelnes Kommando und wartet auf den Empfang.

   411

   412

   Wenn der Slave nicht antwortet, wird das Kommando

   413

   nochmals gesendet.

   414

   415

   \return 0 bei Erfolg, sonst < 0

   416

*/

   417

   418

int ec_master_simple_io(ec_master_t *master, /**< EtherCAT-Master */

   419

                        ec_command_t *command /**< Kommando */

   420

                        )

   421

{

   422

    unsigned int response_tries_left;

   423

   424

    response_tries_left = 10;

   425

   426

    while (1)

   427

    {

   428

        ec_master_queue_command(master, command);

   429

        ecrt_master_sync_io(master);

   430

   431

        if (command->state == EC_CMD_RECEIVED) {

   432

            if (likely(command->working_counter))

   433

                return 0;

   434

        }

   435

        else if (command->state == EC_CMD_TIMEOUT) {

   436

            EC_ERR("Simple-IO TIMEOUT!\n");

   437

            return -1;

   438

        }

   439

        else if (command->state == EC_CMD_ERROR) {

   440

            EC_ERR("Simple-IO command error!\n");

   441

            return -1;

   442

        }

   443

   444

        // Keine direkte Antwort. Dem Slave Zeit lassen...

   445

        udelay(100);

   446

   447

        if (unlikely(--response_tries_left)) {

   448

            EC_ERR("No response in simple-IO!\n");

   449

            return -1;

   450

        }

   451

    }

   452

}

   453

   454

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

   455

   456

/**

   457

   Durchsucht den EtherCAT-Bus nach Slaves.

   458

   459

   Erstellt ein Array mit allen Slave-Informationen die für den

   460

   weiteren Betrieb notwendig sind.

   461

   462

   \return 0 bei Erfolg, sonst < 0

   463

*/

   464

   465

int ec_master_bus_scan(ec_master_t *master /**< EtherCAT-Master */)

   466

{

   467

    ec_slave_t *slave, *next;

   468

    ec_slave_ident_t *ident;

   469

    unsigned int i;

   470

    ec_command_t *command;

   471

    ec_eoe_t *eoe;

   472

    uint16_t coupler_index, coupler_subindex;

   473

    uint16_t reverse_coupler_index, current_coupler_index;

   474

   475

    if (!list_empty(&master->slaves)) {

   476

        EC_ERR("Slave scan already done!\n");

   477

        return -1;

   478

    }

   479

   480

    command = &master->simple_command;

   481

   482

    // Determine number of slaves on bus

   483

    if (ec_command_brd(command, 0x0000, 4)) return -1;

   484

    if (unlikely(ec_master_simple_io(master, command))) return -1;

   485

    master->slave_count = command->working_counter;

   486

    EC_INFO("Found %i slaves on bus.\n", master->slave_count);

   487

   488

    if (!master->slave_count) return 0;

   489