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; version 2 of the License.

    12

 *

    13

 *  The IgH EtherCAT Master is distributed in the hope that it will be

    14

 *  useful, but WITHOUT ANY WARRANTY; without even the implied warranty of

    15

 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

    16

 *  GNU General Public License for more details.

    17

 *

    18

 *  You should have received a copy of the GNU General Public License

    19

 *  along 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

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 *

    22

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

    23

    24

/**

    25

   \file

    26

   EtherCAT master methods.

    27

*/

    28

    29

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

    30

    31

#include <linux/module.h>

    32

#include <linux/kernel.h>

    33

#include <linux/string.h>

    34

#include <linux/slab.h>

    35

#include <linux/delay.h>

    36

    37

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

    38

#include "globals.h"

    39

#include "master.h"

    40

#include "slave.h"

    41

#include "types.h"

    42

#include "device.h"

    43

#include "command.h"

    44

#include "ethernet.h"

    45

    46

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

    47

    48

void ec_master_freerun(void *);

    49

void ec_master_run_eoe(unsigned long);

    50

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

    51

void ec_master_process_watch_command(ec_master_t *);

    52

    53

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

    54

    55

/** \cond */

    56

    57

EC_SYSFS_READ_ATTR(slave_count);

    58

EC_SYSFS_READ_ATTR(mode);

    59

    60

static struct attribute *ec_def_attrs[] = {

    61

    &attr_slave_count,

    62

    &attr_mode,

    63

    NULL,

    64

};

    65

    66

static struct sysfs_ops ec_sysfs_ops = {

    67

    .show = &ec_show_master_attribute,

    68

    .store = NULL

    69

};

    70

    71

static struct kobj_type ktype_ec_master = {

    72

    .release = ec_master_clear,

    73

    .sysfs_ops = &ec_sysfs_ops,

    74

    .default_attrs = ec_def_attrs

    75

};

    76

    77

/** \endcond */

    78

    79

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

    80

    81

/**

    82

   Master constructor.

    83

   \return 0 in case of success, else < 0

    84

*/

    85

    86

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

    87

                   unsigned int index /**< master index */

    88

                   )

    89

{

    90

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

    91

    92

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

    93

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

    94

        goto out_return;

    95

    }

    96

    97

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

    98

    99

    master->index = index;

   100

    master->device = NULL;

   101

    master->reserved = 0;

   102

    INIT_LIST_HEAD(&master->slaves);

   103

    INIT_LIST_HEAD(&master->command_queue);

   104

    INIT_LIST_HEAD(&master->domains);

   105

    INIT_LIST_HEAD(&master->eoe_slaves);

   106

    ec_command_init(&master->simple_command);

   107

    INIT_WORK(&master->freerun_work, ec_master_freerun, (void *) master);

   108

    init_timer(&master->eoe_timer);

   109

    master->eoe_timer.function = ec_master_run_eoe;

   110

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

   111

   112

    // init kobject and add it to the hierarchy

   113

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

   114

    kobject_init(&master->kobj);

   115

    master->kobj.ktype = &ktype_ec_master;

   116

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

   117

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

   118

        kobject_put(&master->kobj);

   119

        return -1;

   120

    }

   121

   122

    ec_master_reset(master);

   123

    return 0;

   124

   125

 out_free_wq:

   126

    destroy_workqueue(master->workqueue);

   127

 out_return:

   128

    return -1;

   129

}

   130

   131

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

   132

   133

/**

   134

   Master destructor.

   135

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

   136

   and frees the device.

   137

*/

   138

   139

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

   140

{

   141

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

   142

   143

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

   144

   145

    ec_master_reset(master);

   146

    ec_fsm_clear(&master->fsm);

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    ec_command_clear(&master->simple_command);

   148

    destroy_workqueue(master->workqueue);

   149

   150

    if (master->device) {

   151

        ec_device_clear(master->device);

   152

        kfree(master->device);

   153

    }

   154

   155

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

   156

}

   157

   158

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

   159

   160

/**

   161

   Resets the master.

   162

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

   163

   called, to free the slave list, domains etc.

   164

*/

   165

   166

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

   167

{

   168

    ec_command_t *command, *next_c;

   169

    ec_domain_t *domain, *next_d;

   170

    ec_eoe_t *eoe, *next_eoe;

   171

   172

    // stop EoE processing

   173

    del_timer_sync(&master->eoe_timer);

   174

   175

    // stop free-run mode

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    ec_master_freerun_stop(master);

   177

   178

    ec_master_clear_slaves(master);

   179

   180

    // empty command queue

   181

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

   182

        list_del_init(&command->queue);

   183

        command->state = EC_CMD_ERROR;

   184

    }

   185

   186

    // clear domains

   187

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

   188

        list_del(&domain->list);

   189

        kobject_del(&domain->kobj);

   190

        kobject_put(&domain->kobj);

   191

    }

   192

   193

    // clear EoE objects

   194

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

   195

        list_del(&eoe->list);

   196

        ec_eoe_clear(eoe);

   197

        kfree(eoe);

   198

    }

   199

   200

    master->command_index = 0;

   201

    master->debug_level = 0;

   202

    master->timeout = 500; // 500us

   203

   204

    master->stats.timeouts = 0;

   205

    master->stats.delayed = 0;

   206

    master->stats.corrupted = 0;

   207

    master->stats.unmatched = 0;

   208

    master->stats.t_last = 0;

   209

   210

    master->mode = EC_MASTER_MODE_IDLE;

   211

   212

    master->request_cb = NULL;

   213

    master->release_cb = NULL;

   214

    master->cb_data = NULL;

   215

   216

    ec_fsm_reset(&master->fsm);

   217

}

   218

   219

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

   220

   221

/**

   222

   Clears all slaves.

   223

*/

   224

   225

void ec_master_clear_slaves(ec_master_t *master)

   226

{

   227

    ec_slave_t *slave, *next_slave;

   228

   229

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

   230

        list_del(&slave->list);

   231

        kobject_del(&slave->kobj);

   232

        kobject_put(&slave->kobj);

   233

    }

   234

    master->slave_count = 0;

   235

}

   236

   237

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

   238

   239

/**

   240

   Places a command in the command queue.

   241

*/

   242

   243

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

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                             ec_command_t *command /**< command */

   245

                             )

   246

{

   247

    ec_command_t *queued_command;

   248

   249

    // check, if the command is already queued

   250

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

   251

        if (queued_command == command) {

   252

            command->state = EC_CMD_QUEUED;

   253

            if (unlikely(master->debug_level))

   254

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

   255

            return;

   256

        }

   257

    }

   258

   259

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

   260

    command->state = EC_CMD_QUEUED;

   261

}

   262

   263

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

   264

   265

/**

   266

   Sends the commands in the queue.

   267

   \return 0 in case of success, else < 0

   268

*/

   269

   270

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

   271

{

   272

    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;

   276

    cycles_t t_start, t_end;

   277

    unsigned int frame_count, more_commands_waiting;

   278

   279

    frame_count = 0;

   280

    t_start = get_cycles();

   281

   282

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

   283

        EC_DBG("ec_master_send_commands\n");

   284

   285

    do {

   286

        // fetch pointer to transmit socket buffer

   287

        frame_data = ec_device_tx_data(master->device);

   288

        cur_data = frame_data + EC_FRAME_HEADER_SIZE;

   289

        follows_word = NULL;

   290

        more_commands_waiting = 0;

   291

   292

        // fill current frame with commands

   293

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

   294

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

   295

   296

            // does the current command fit in the frame?

   297

            command_size = EC_COMMAND_HEADER_SIZE + command->data_size

   298

                + EC_COMMAND_FOOTER_SIZE;

   299

            if (cur_data - frame_data + command_size > ETH_DATA_LEN) {

   300

                more_commands_waiting = 1;

   301

                break;

   302

            }

   303

   304

            command->state = EC_CMD_SENT;

   305

            command->t_sent = t_start;

   306

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

   307

   308

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

   309

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

   310

   311

            // set "command following" flag in previous frame

   312

            if (follows_word)

   313

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

   314

   315

            // EtherCAT command header

   316

            EC_WRITE_U8 (cur_data,     command->type);

   317

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

   318

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

   319

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

   320

            EC_WRITE_U16(cur_data + 8, 0x0000);

   321

            follows_word = cur_data + 6;

   322

            cur_data += EC_COMMAND_HEADER_SIZE;

   323

   324

            // EtherCAT command data

   325

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

   326

            cur_data += command->data_size;

   327

   328

            // EtherCAT command footer

   329

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

   330

            cur_data += EC_COMMAND_FOOTER_SIZE;

   331

        }

   332

   333

        if (cur_data - frame_data == EC_FRAME_HEADER_SIZE) {

   334

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

   335

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

   336

            break;

   337

        }

   338

   339

        // EtherCAT frame header

   340

        EC_WRITE_U16(frame_data, ((cur_data - frame_data

   341

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

   342

   343

        // pad frame

   344

        while (cur_data - frame_data < ETH_ZLEN - ETH_HLEN)

   345

            EC_WRITE_U8(cur_data++, 0x00);

   346

   347

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

   348

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

   349

   350

        // send frame

   351

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

   352

        frame_count++;

   353

    }

   354

    while (more_commands_waiting);

   355

   356

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

   357

        t_end = get_cycles();

   358

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

   359

               frame_count, (u32) (t_end - t_start) * 1000 / cpu_khz);

   360

    }

   361

}

   362

   363

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

   364

   365

/**

   366

   Processes a received frame.

   367

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

   368

   \return 0 in case of success, else < 0

   369

*/

   370

   371

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

   372

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

   373

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

   374

                       )

   375

{

   376

    size_t frame_size, data_size;

   377

    uint8_t command_type, command_index;

   378

    unsigned int cmd_follows, matched;

   379

    const uint8_t *cur_data;

   380

    ec_command_t *command;

   381

   382

    if (unlikely(size < EC_FRAME_HEADER_SIZE)) {

   383

        master->stats.corrupted++;

   384

        ec_master_output_stats(master);

   385

        return;

   386

    }

   387

   388

    cur_data = frame_data;

   389

   390

    // check length of entire frame

   391

    frame_size = EC_READ_U16(cur_data) & 0x07FF;

   392

    cur_data += EC_FRAME_HEADER_SIZE;

   393

   394

    if (unlikely(frame_size > size)) {

   395

        master->stats.corrupted++;

   396

        ec_master_output_stats(master);

   397

        return;

   398

    }

   399

   400

    cmd_follows = 1;

   401

    while (cmd_follows) {

   402

        // process command header

   403

        command_type  = EC_READ_U8 (cur_data);

   404

        command_index = EC_READ_U8 (cur_data + 1);

   405

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

   406

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

   407

        cur_data += EC_COMMAND_HEADER_SIZE;

   408

   409

        if (unlikely(cur_data - frame_data

   410

                     + data_size + EC_COMMAND_FOOTER_SIZE > size)) {

   411

            master->stats.corrupted++;

   412

            ec_master_output_stats(master);

   413

            return;

   414

        }

   415

   416

        // search for matching command in the queue

   417

        matched = 0;

   418

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

   419

            if (command->state == EC_CMD_SENT

   420

                && command->type == command_type

   421

                && command->index == command_index

   422

                && command->data_size == data_size) {

   423

                matched = 1;

   424

                break;

   425

            }

   426

        }

   427

   428

        // no matching command was found

   429

        if (!matched) {

   430

            master->stats.unmatched++;

   431

            ec_master_output_stats(master);

   432

            cur_data += data_size + EC_COMMAND_FOOTER_SIZE;

   433

            continue;

   434

        }

   435

   436

        // copy received data in the command memory

   437

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

   438

        cur_data += data_size;

   439

   440

        // set the command's working counter

   441

        command->working_counter = EC_READ_U16(cur_data);

   442

        cur_data += EC_COMMAND_FOOTER_SIZE;

   443

   444

        // dequeue the received command

   445

        command->state = EC_CMD_RECEIVED;

   446

        list_del_init(&command->queue);

   447

    }

   448

}

   449

   450

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

   451

   452

/**

   453

   Sends a single command and waits for its reception.

   454

   If the slave doesn't respond, the command is sent again.

   455

   \return 0 in case of success, else < 0

   456

*/

   457

   458

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

   459

                        ec_command_t *command /**< command */

   460

                        )

   461

{

   462

    unsigned int response_tries_left;

   463

   464

    response_tries_left = 10;

   465

   466

    while (1)

   467

    {

   468

        ec_master_queue_command(master, command);

   469

        ecrt_master_sync_io(master);

   470

   471

        if (command->state == EC_CMD_RECEIVED) {

   472

            if (likely(command->working_counter))

   473

                return 0;

   474

        }

   475

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

   476

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

   477

            return -1;

   478

        }

   479

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

   480

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

   481

            return -1;

   482

        }

   483

   484

        // no direct response, wait a little bit...

   485

        udelay(100);

   486