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; 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 "slave.h"

    50

#include "slave_config.h"

    51

#include "device.h"

    52

#include "datagram.h"

    53

#ifdef EC_EOE

    54

#include "ethernet.h"

    55

#endif

    56

#include "master.h"

    57

    58

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

    59

    60

void ec_master_clear_slave_configs(ec_master_t *);

    61

void ec_master_clear_domains(ec_master_t *);

    62

static int ec_master_idle_thread(ec_master_t *);

    63

static int ec_master_operation_thread(ec_master_t *);

    64

#ifdef EC_EOE

    65

void ec_master_eoe_run(unsigned long);

    66

#endif

    67

    68

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

    69

    70

/**

    71

   Master constructor.

    72

   \return 0 in case of success, else < 0

    73

*/

    74

    75

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

    76

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

    77

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

    78

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

    79

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

    80

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

    81

        )

    82

{

    83

    unsigned int i;

    84

    85

    master->index = index;

    86

    master->reserved = 0;

    87

    88

    master->main_mac = main_mac;

    89

    master->backup_mac = backup_mac;

    90

    init_MUTEX(&master->device_sem);

    91

    92

    master->mode = EC_MASTER_MODE_ORPHANED;

    93

    master->injection_seq_fsm = 0;

    94

    master->injection_seq_rt = 0;

    95

    96

    master->slaves = NULL;

    97

    master->slave_count = 0;

    98

    99

    INIT_LIST_HEAD(&master->configs);

   100

   101

    master->scan_busy = 0;

   102

    master->allow_scan = 1;

   103

    init_MUTEX(&master->scan_sem);

   104

    init_waitqueue_head(&master->scan_queue);

   105

   106

    master->config_busy = 0;

   107

    master->allow_config = 1;

   108

    init_MUTEX(&master->config_sem);

   109

    init_waitqueue_head(&master->config_queue);

   110

   111

    INIT_LIST_HEAD(&master->datagram_queue);

   112

    master->datagram_index = 0;

   113

   114

    INIT_LIST_HEAD(&master->domains);

   115

   116

    master->debug_level = 0;

   117

    master->stats.timeouts = 0;

   118

    master->stats.corrupted = 0;

   119

    master->stats.unmatched = 0;

   120

    master->stats.output_jiffies = 0;

   121

    master->frames_timed_out = 0;

   122

   123

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

   124

        master->idle_cycle_times[i] = 0;

   125

#ifdef EC_EOE

   126

        master->eoe_cycle_times[i] = 0;

   127

#endif

   128

    }

   129

    master->idle_cycle_time_pos = 0;

   130

#ifdef EC_EOE

   131

    master->eoe_cycle_time_pos = 0;

   132

   133

    init_timer(&master->eoe_timer);

   134

    master->eoe_timer.function = ec_master_eoe_run;

   135

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

   136

    master->eoe_running = 0;

   137

    INIT_LIST_HEAD(&master->eoe_handlers);

   138

#endif

   139

   140

    master->internal_lock = SPIN_LOCK_UNLOCKED;

   141

    master->request_cb = NULL;

   142

    master->release_cb = NULL;

   143

    master->cb_data = NULL;

   144

   145

    INIT_LIST_HEAD(&master->sii_requests);

   146

    init_MUTEX(&master->sii_sem);

   147

    init_waitqueue_head(&master->sii_queue);

   148

   149

    INIT_LIST_HEAD(&master->slave_sdo_requests);

   150

    init_MUTEX(&master->sdo_sem);

   151

    init_waitqueue_head(&master->sdo_queue);

   152

   153

    // init devices

   154

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

   155

        goto out_return;

   156

   157

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

   158

        goto out_clear_main;

   159

   160

    // init state machine datagram

   161

    ec_datagram_init(&master->fsm_datagram);

   162

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

   163

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

   164

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

   165

        goto out_clear_backup;

   166

    }

   167

   168

    // create state machine object

   169

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

   170

   171

    // init character device

   172

    if (ec_cdev_init(&master->cdev, master, device_number))

   173

        goto out_clear_fsm;

   174

   175

    master->class_device = class_device_create(class,

   176

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

   177

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

   178

    if (IS_ERR(master->class_device)) {

   179

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

   180

        goto out_clear_cdev;

   181

    }

   182

   183

    return 0;

   184

   185

out_clear_cdev:

   186

    ec_cdev_clear(&master->cdev);

   187

out_clear_fsm:

   188

    ec_fsm_master_clear(&master->fsm);

   189

    ec_datagram_clear(&master->fsm_datagram);

   190

out_clear_backup:

   191

    ec_device_clear(&master->backup_device);

   192

out_clear_main:

   193

    ec_device_clear(&master->main_device);

   194

out_return:

   195

    return -1;

   196

}

   197

   198

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

   199

   200

/** Destructor.

   201

*/

   202

void ec_master_clear(

   203

        ec_master_t *master /**< EtherCAT master */

   204

        )

   205

{

   206

    class_device_unregister(master->class_device);

   207

    ec_cdev_clear(&master->cdev);

   208

#ifdef EC_EOE

   209

    ec_master_clear_eoe_handlers(master);

   210

#endif

   211

    ec_master_clear_domains(master);

   212

    ec_master_clear_slave_configs(master);

   213

    ec_master_clear_slaves(master);

   214

    ec_fsm_master_clear(&master->fsm);

   215

    ec_datagram_clear(&master->fsm_datagram);

   216

    ec_device_clear(&master->backup_device);

   217

    ec_device_clear(&master->main_device);

   218

}

   219

   220

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

   221

   222

#ifdef EC_EOE

   223

/** Clear and free all EoE handlers.

   224

 */

   225

void ec_master_clear_eoe_handlers(

   226

        ec_master_t *master /**< EtherCAT master */

   227

        )

   228

{

   229

    ec_eoe_t *eoe, *next;

   230

   231

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

   232

        list_del(&eoe->list);

   233

        ec_eoe_clear(eoe);

   234

        kfree(eoe);

   235

    }

   236

}

   237

#endif

   238

   239

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

   240

   241

/** Clear all slave configurations.

   242

 */

   243

void ec_master_clear_slave_configs(ec_master_t *master)

   244

{

   245

    ec_slave_config_t *sc, *next;

   246

   247

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

   248

        list_del(&sc->list);

   249

        ec_slave_config_clear(sc);

   250

        kfree(sc);

   251

    }

   252

}

   253

   254

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

   255

   256

/** Clear all slaves.

   257

 */

   258

void ec_master_clear_slaves(ec_master_t *master)

   259

{

   260

    ec_slave_t *slave;

   261

   262

    for (slave = master->slaves;

   263

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

   264

            slave++) {

   265

        ec_slave_clear(slave);

   266

    }

   267

   268

    if (master->slaves) {

   269

        kfree(master->slaves);

   270

        master->slaves = NULL;

   271

    }

   272

   273

    master->slave_count = 0;

   274

}

   275

   276

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

   277

   278

/** Clear all domains.

   279

 */

   280

void ec_master_clear_domains(ec_master_t *master)

   281

{

   282

    ec_domain_t *domain, *next;

   283

   284

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

   285

        list_del(&domain->list);

   286

        ec_domain_clear(domain);

   287

        kfree(domain);

   288

    }

   289

}

   290

   291

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

   292

   293

/** Internal locking callback.

   294

 */

   295

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

   296

{

   297

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

   298

    return 0;

   299

}

   300

   301

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

   302

   303

/** Internal unlocking callback.

   304

 */

   305

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

   306

{

   307

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

   308

}

   309

   310

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

   311

   312

/** Starts the master thread.

   313

 */

   314

int ec_master_thread_start(

   315

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

   316

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

   317

        )

   318

{

   319

    init_completion(&master->thread_exit);

   320

   321

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

   322

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

   323

                    master, CLONE_KERNEL)))

   324

        return -1;

   325

   326

    return 0;

   327

}

   328

   329

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

   330

   331

/** Stops the master thread.

   332

 */

   333

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

   334

{

   335

    if (!master->thread_id) {

   336

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

   337

        return;

   338

    }

   339

   340

    if (master->debug_level)

   341

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

   342

   343

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

   344

    wait_for_completion(&master->thread_exit);

   345

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

   346

   347

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

   348

   349

    // wait for FSM datagram

   350

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

   351

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

   352

        schedule();

   353

}

   354

   355

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

   356

   357

/** Transition function from ORPHANED to IDLE mode.

   358

 */

   359

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

   360

{

   361

    master->request_cb = ec_master_request_cb;

   362

    master->release_cb = ec_master_release_cb;

   363

    master->cb_data = master;

   364

   365

    if (master->debug_level)

   366

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

   367

   368

    master->mode = EC_MASTER_MODE_IDLE;

   369

    if (ec_master_thread_start(master, ec_master_idle_thread)) {

   370

        master->mode = EC_MASTER_MODE_ORPHANED;

   371

        return -1;

   372

    }

   373

   374

    return 0;

   375

}

   376

   377

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

   378

   379

/** Transition function from IDLE to ORPHANED mode.

   380

 */

   381

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

   382

{

   383

    if (master->debug_level)

   384

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

   385

   386

    master->mode = EC_MASTER_MODE_ORPHANED;

   387

   388

#ifdef EC_EOE

   389

    ec_master_eoe_stop(master);

   390

#endif

   391

    ec_master_thread_stop(master);

   392

    ec_master_clear_slaves(master);

   393

}

   394

   395

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

   396

   397

/** Transition function from IDLE to OPERATION mode.

   398

 */

   399

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

   400

{

   401

    ec_slave_t *slave;

   402

#ifdef EC_EOE

   403

    ec_eoe_t *eoe;

   404

#endif

   405

   406

    if (master->debug_level)

   407

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

   408

   409

    down(&master->config_sem);

   410

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

   411

    if (master->config_busy) {

   412

        up(&master->config_sem);

   413

   414

        // wait for slave configuration to complete

   415

        if (wait_event_interruptible(master->config_queue,

   416

                    !master->config_busy)) {

   417

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

   418

            goto out_allow;

   419

        }

   420

   421

        if (master->debug_level)

   422

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

   423

    } else {

   424

        up(&master->config_sem);

   425

    }

   426

   427

    down(&master->scan_sem);

   428

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

   429

    if (!master->scan_busy) {

   430

        up(&master->scan_sem);

   431

    } else {

   432

        up(&master->scan_sem);

   433

   434

        // wait for slave scan to complete

   435

        if (wait_event_interruptible(master->scan_queue, !master->scan_busy)) {

   436

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

   437

            goto out_allow;

   438

        }

   439

   440

        if (master->debug_level)

   441

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

   442

    }

   443

   444

    // set states for all slaves

   445

    for (slave = master->slaves;

   446

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

   447

            slave++) {

   448

        ec_slave_request_state(slave, EC_SLAVE_STATE_PREOP);

   449

    }

   450

#ifdef EC_EOE

   451

    // ... but set EoE slaves to OP

   452

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

   453

        if (ec_eoe_is_open(eoe))

   454

            ec_slave_request_state(eoe->slave, EC_SLAVE_STATE_OP);

   455

    }

   456

#endif

   457

   458

    if (master->debug_level)

   459

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

   460

   461

    master->mode = EC_MASTER_MODE_OPERATION;

   462

    master->ext_request_cb = NULL;

   463

    master->ext_release_cb = NULL;

   464

    master->ext_cb_data = NULL;

   465

    return 0;

   466

   467

out_allow:

   468

    master->allow_scan = 1;

   469

    master->allow_config = 1;

   470

    return -1;

   471

}

   472

   473

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

   474

   475

/** Transition function from OPERATION to IDLE mode.

   476

 */

   477

void ec_master_leave_operation_mode(ec_master_t *master

   478

                                    /**< EtherCAT master */)

   479

{

   480

    ec_slave_t *slave;

   481

#ifdef EC_EOE

   482

    ec_eoe_t *eoe;

   483

#endif