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

     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 "master.h"

    50

#include "slave.h"

    51

#include "device.h"

    52

#include "datagram.h"

    53

#include "ethernet.h"

    54

    55

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

    56

    57

void ec_master_destroy_domains(ec_master_t *);

    58

void ec_master_sync_io(ec_master_t *);

    59

static int ec_master_idle_thread(ec_master_t *);

    60

static int ec_master_operation_thread(ec_master_t *);

    61

void ec_master_eoe_run(unsigned long);

    62

void ec_master_check_sdo(unsigned long);

    63

int ec_master_measure_bus_time(ec_master_t *);

    64

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

    65

ssize_t ec_store_master_attribute(struct kobject *, struct attribute *,

    66

                                  const char *, size_t);

    67

    68

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

    69

    70

/** \cond */

    71

    72

EC_SYSFS_READ_ATTR(info);

    73

EC_SYSFS_READ_WRITE_ATTR(debug_level);

    74

    75

static struct attribute *ec_def_attrs[] = {

    76

    &attr_info,

    77

    &attr_debug_level,

    78

    NULL,

    79

};

    80

    81

static struct sysfs_ops ec_sysfs_ops = {

    82

    .show = &ec_show_master_attribute,

    83

    .store = ec_store_master_attribute

    84

};

    85

    86

static struct kobj_type ktype_ec_master = {

    87

    .release = NULL,

    88

    .sysfs_ops = &ec_sysfs_ops,

    89

    .default_attrs = ec_def_attrs

    90

};

    91

    92

/** \endcond */

    93

    94

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

    95

    96

/**

    97

   Master constructor.

    98

   \return 0 in case of success, else < 0

    99

*/

   100

   101

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

   102

        struct kobject *module_kobj, /**< kobject of the master module */

   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

        )

   107

{

   108

    unsigned int i;

   109

   110

    master->index = index;

   111

    master->reserved = 0;

   112

   113

    master->main_mac = main_mac;

   114

    master->backup_mac = backup_mac;

   115

    init_MUTEX(&master->device_sem);

   116

   117

    master->mode = EC_MASTER_MODE_ORPHANED;

   118

    master->injection_seq_fsm = 0;

   119

    master->injection_seq_rt = 0;

   120

   121

    INIT_LIST_HEAD(&master->slaves);

   122

    master->slave_count = 0;

   123

   124

    master->scan_state = EC_REQUEST_IN_PROGRESS;

   125

    master->allow_scan = 1;

   126

    init_MUTEX(&master->scan_sem);

   127

    init_waitqueue_head(&master->scan_queue);

   128

   129

    master->config_state = EC_REQUEST_COMPLETE;

   130

    master->allow_config = 1;

   131

    init_MUTEX(&master->config_sem);

   132

    init_waitqueue_head(&master->config_queue);

   133

   134

    INIT_LIST_HEAD(&master->datagram_queue);

   135

    master->datagram_index = 0;

   136

   137

    INIT_LIST_HEAD(&master->domains);

   138

    master->debug_level = 0;

   139

   140

    master->stats.timeouts = 0;

   141

    master->stats.corrupted = 0;

   142

    master->stats.skipped = 0;

   143

    master->stats.unmatched = 0;

   144

    master->stats.output_jiffies = 0;

   145

   146

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

   147

        master->idle_cycle_times[i] = 0;

   148

        master->eoe_cycle_times[i] = 0;

   149

    }

   150

    master->idle_cycle_time_pos = 0;

   151

    master->eoe_cycle_time_pos = 0;

   152

   153

    init_timer(&master->eoe_timer);

   154

    master->eoe_timer.function = ec_master_eoe_run;

   155

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

   156

    master->eoe_running = 0;

   157

    master->eoe_checked = 0;

   158

    INIT_LIST_HEAD(&master->eoe_handlers);

   159

   160

    master->internal_lock = SPIN_LOCK_UNLOCKED;

   161

    master->request_cb = NULL;

   162

    master->release_cb = NULL;

   163

    master->cb_data = NULL;

   164

   165

    INIT_LIST_HEAD(&master->eeprom_requests);

   166

    init_MUTEX(&master->eeprom_sem);

   167

    init_waitqueue_head(&master->eeprom_queue);

   168

   169

    INIT_LIST_HEAD(&master->sdo_requests);

   170

    init_MUTEX(&master->sdo_sem);

   171

    init_waitqueue_head(&master->sdo_queue);

   172

   173

    // init devices

   174

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

   175

        goto out_return;

   176

   177

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

   178

        goto out_clear_main;

   179

   180

    // init state machine datagram

   181

    ec_datagram_init(&master->fsm_datagram);

   182

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

   183

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

   185

    }

   186

   187

    // create state machine object

   188

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

   189

   190

    // init kobject and add it to the hierarchy

   191

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

   192

    kobject_init(&master->kobj);

   193

    master->kobj.ktype = &ktype_ec_master;

   194

    master->kobj.parent = module_kobj;

   195

   196

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

   197

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

   198

        kobject_put(&master->kobj);

   200

    }

   201

   202

    if (kobject_add(&master->kobj)) {

   203

        EC_ERR("Failed to add master kobject.\n");

   204

        kobject_put(&master->kobj);

   206

    }

   207

   208

    return 0;

   209

   213

    ec_device_clear(&master->backup_device);

   214

out_clear_main:

   215

    ec_device_clear(&master->main_device);

   216

out_return:

   217

    return -1;

   218

}

   219

   220

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

   221

   222

/**

   223

   Clear and free master.

   224

   This method is called by the kobject,

   225

   once there are no more references to it.

   226

*/

   227

   228

void ec_master_clear(

   229

        ec_master_t *master /**< EtherCAT master */

   230

        )

   231

{

   232

    ec_eoe_t *eoe, *next_eoe;

   233

    ec_datagram_t *datagram, *next_datagram;

   234

   235

    ec_master_destroy_slaves(master);

   236

    ec_master_destroy_domains(master);

   237

   238

    // list of EEPROM requests is empty,

   239

    // otherwise master could not be cleared.

   240

   241

    // dequeue all datagrams

   242

    list_for_each_entry_safe(datagram, next_datagram,

   243

                             &master->datagram_queue, queue) {

   244

        datagram->state = EC_DATAGRAM_ERROR;

   245

        list_del_init(&datagram->queue);

   246

    }

   247

   248

    ec_fsm_master_clear(&master->fsm);

   249

    ec_datagram_clear(&master->fsm_datagram);

   250

   251

    // clear EoE objects

   252

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

   253

        list_del(&eoe->list);

   254

        ec_eoe_clear(eoe);

   255

        kfree(eoe);

   256

    }

   257

   258

    ec_device_clear(&master->backup_device);

   259

    ec_device_clear(&master->main_device);

   260

   261

    // destroy self

   262

    kobject_del(&master->kobj);

   263

    kobject_put(&master->kobj);

   264

   265

    EC_INFO("Master %u freed.\n", master->index);

   266

}

   267

   268

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

   269

   270

/**

   271

   Destroy all slaves.

   272

*/

   273

   274

void ec_master_destroy_slaves(ec_master_t *master)

   275

{

   276

    ec_slave_t *slave, *next_slave;

   277

   278

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

   279

        list_del(&slave->list);

   280

        ec_slave_destroy(slave);

   281

    }

   282

   283

    master->slave_count = 0;

   284

}

   285

   286

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

   287

   288

/**

   289

   Destroy all domains.

   290

*/

   291

   292

void ec_master_destroy_domains(ec_master_t *master)

   293

{

   294

    ec_domain_t *domain, *next_d;

   295

   296

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

   297

        list_del(&domain->list);

   298

        ec_domain_destroy(domain);

   299

    }

   300

}

   301

   302

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

   303

   304

/**

   305

   Internal locking callback.

   306

*/

   307

   308

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

   309

{

   310

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

   311

    return 0;

   312

}

   313

   314

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

   315

   316

/**

   317

   Internal unlocking callback.

   318

*/

   319

   320

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

   321

{

   322

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

   323

}

   324

   325

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

   326

   327

/**

   328

 * Starts the master thread.

   329

 */

   330

   331

int ec_master_thread_start(

   332

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

   333

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

   334

        )

   335

{

   336

    init_completion(&master->thread_exit);

   337

   338

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

   339

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

   340

                    master, CLONE_KERNEL)))

   341

        return -1;

   342

   343

    return 0;

   344

}

   345

   346

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

   347

   348

/**

   349

 * Stops the master thread.

   350

 */

   351

   352

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

   353

{

   354

    if (!master->thread_id) {

   355

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

   356

        return;

   357

    }

   358

   359

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

   360

    wait_for_completion(&master->thread_exit);

   361

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

   362

   363

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

   364

   365

    // wait for FSM datagram

   366

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

   367

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

   368

        schedule();

   369

}

   370

   371

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

   372

   373

/**

   374

 * Transition function from ORPHANED to IDLE mode.

   375

 */

   376

   377

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

   378

{

   379

    master->request_cb = ec_master_request_cb;

   380

    master->release_cb = ec_master_release_cb;

   381

    master->cb_data = master;

   382

   383

    master->mode = EC_MASTER_MODE_IDLE;

   384

    if (ec_master_thread_start(master, ec_master_idle_thread)) {

   385

        master->mode = EC_MASTER_MODE_ORPHANED;

   386

        return -1;

   387

    }

   388

   389

    return 0;

   390

}

   391

   392

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

   393

   394

/**

   395

 * Transition function from IDLE to ORPHANED mode.

   396

 */

   397

   398

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

   399

{

   400

    master->mode = EC_MASTER_MODE_ORPHANED;

   401

   402

    ec_master_eoe_stop(master);

   403

    ec_master_thread_stop(master);

   404

    ec_master_destroy_slaves(master);

   405

}

   406

   407

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

   408

   409

/**

   410

 * Transition function from IDLE to OPERATION mode.

   411

 */

   412

   413

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

   414

{

   415

    ec_slave_t *slave;

   416

   417

    down(&master->config_sem);

   418

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

   419

    up(&master->config_sem);

   420

   421

    // wait for slave configuration to complete

   422

    if (wait_event_interruptible(master->config_queue,

   423

                master->config_state != EC_REQUEST_IN_PROGRESS)) {

   424

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

   425

        goto out_allow;

   426

    }

   427

   428

    if (master->debug_level)

   429

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

   430

   431

    down(&master->scan_sem);

   432

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

   433

    up(&master->scan_sem);

   434

   435

    // wait for slave scan to complete

   436

    if (wait_event_interruptible(master->scan_queue,

   437

                master->scan_state != EC_REQUEST_IN_PROGRESS)) {

   438

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

   439

        goto out_allow;

   440

    }

   441

   442

    if (master->debug_level)

   443

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

   444

   445

    // set states for all slaves

   446

    list_for_each_entry(slave, &master->slaves, list) {

   447

        ec_slave_request_state(slave, EC_SLAVE_STATE_PREOP);

   448

    }

   449

   450

    if (master->debug_level)

   451

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

   452

   453

    master->mode = EC_MASTER_MODE_OPERATION;

   454

    master->pdo_slaves_offline = 0; // assume all PDO slaves online

   455

    return 0;

   456

   457

out_allow:

   458

    master->allow_scan = 1;

   459

    master->allow_config = 1;

   460

    return -1;

   461

}

   462

   463

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

   464

   465

/**

   466

 * Transition function from OPERATION to IDLE mode.

   467

 */

   468

   469

void ec_master_leave_operation_mode(ec_master_t *master

   470

                                    /**< EtherCAT master */)

   471

{

   472

    ec_slave_t *slave;

   473

   474

    master->mode = EC_MASTER_MODE_IDLE;

   475

   476

    ec_master_eoe_stop(master);

   477

    ec_master_thread_stop(master);

   478

   479

    master->request_cb = ec_master_request_cb;

   480

    master->release_cb = ec_master_release_cb;

   481

    master->cb_data = master;

   482

   483

    // set states for all slaves

   484

    list_for_each_entry(slave, &master->slaves, list) {

   485

        ec_slave_reset(slave);

   486

        ec_slave_request_state(slave, EC_SLAVE_STATE_PREOP);