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

     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,

    14

 *  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

 *

    28

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

    29

    30

/**

    31

   \file

    32

   EtherCAT master methods.

    33

*/

    34

    35

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

    36

    37

#include <linux/module.h>

    38

#include <linux/kernel.h>

    39

#include <linux/string.h>

    40

#include <linux/slab.h>

    41

#include <linux/delay.h>

    42

#include <linux/device.h>

    43

#include <linux/version.h>

    44

    45

#include "globals.h"

    46

#include "slave.h"

    47

#include "slave_config.h"

    48

#include "device.h"

    49

#include "datagram.h"

    50

#ifdef EC_EOE

    51

#include "ethernet.h"

    52

#endif

    53

#include "master.h"

    54

    55

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

    56

    57

#ifdef EC_HAVE_CYCLES

    58

    59

/** Frame timeout in cycles.

    60

 */

    61

static cycles_t timeout_cycles;

    62

    63

#else

    64

    65

/** Frame timeout in jiffies.

    66

 */

    67

static unsigned long timeout_jiffies;

    68

    69

#endif

    70

    71

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

    72

    73

void ec_master_clear_slave_configs(ec_master_t *);

    74

void ec_master_clear_domains(ec_master_t *);

    75

static int ec_master_idle_thread(void *);

    76

static int ec_master_operation_thread(void *);

    77

#ifdef EC_EOE

    78

void ec_master_eoe_run(unsigned long);

    79

#endif

    80

    81

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

    82

    83

/** Static variables initializer.

    84

*/

    85

void ec_master_init_static(void)

    86

{

    87

#ifdef EC_HAVE_CYCLES

    88

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

    89

#else

    90

    // one jiffy may always elapse between time measurement

    91

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

    92

#endif

    93

}

    94

    95

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

    96

    97

/**

    98

   Master constructor.

    99

   \return 0 in case of success, else < 0

   100

*/

   101

   102

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

   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

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

   107

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

   108

        )

   109

{

   110

    int ret;

   111

   112

    master->index = index;

   113

    master->reserved = 0;

   114

   115

    init_MUTEX(&master->master_sem);

   116

   117

    master->main_mac = main_mac;

   118

    master->backup_mac = backup_mac;

   119

    init_MUTEX(&master->device_sem);

   120

   121

    master->phase = EC_ORPHANED;

   122

    master->injection_seq_fsm = 0;

   123

    master->injection_seq_rt = 0;

   124

   125

    master->slaves = NULL;

   126

    master->slave_count = 0;

   127

   128

    INIT_LIST_HEAD(&master->configs);

   129

   130

    master->scan_busy = 0;

   131

    master->allow_scan = 1;

   132

    init_MUTEX(&master->scan_sem);

   133

    init_waitqueue_head(&master->scan_queue);

   134

   135

    master->config_busy = 0;

   136

    master->allow_config = 1;

   137

    init_MUTEX(&master->config_sem);

   138

    init_waitqueue_head(&master->config_queue);

   139

   140

    INIT_LIST_HEAD(&master->datagram_queue);

   141

    master->datagram_index = 0;

   142

   143

    INIT_LIST_HEAD(&master->domains);

   144

   145

    master->debug_level = 0;

   146

    master->stats.timeouts = 0;

   147

    master->stats.corrupted = 0;

   148

    master->stats.unmatched = 0;

   149

    master->stats.output_jiffies = 0;

   150

    master->frames_timed_out = 0;

   151

   152

    master->thread = NULL;

   153

   154

#ifdef EC_EOE

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    init_timer(&master->eoe_timer);

   156

    master->eoe_timer.function = ec_master_eoe_run;

   157

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

   158

    master->eoe_running = 0;

   159

    INIT_LIST_HEAD(&master->eoe_handlers);

   160

#endif

   161

   162

    master->internal_lock = SPIN_LOCK_UNLOCKED;

   163

    master->request_cb = NULL;

   164

    master->release_cb = NULL;

   165

    master->cb_data = NULL;

   166

   167

    INIT_LIST_HEAD(&master->sii_requests);

   168

    init_waitqueue_head(&master->sii_queue);

   169

   170

    INIT_LIST_HEAD(&master->slave_sdo_requests);

   171

    init_waitqueue_head(&master->sdo_queue);

   172

   173

    INIT_LIST_HEAD(&master->phy_requests);

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    init_waitqueue_head(&master->phy_queue);

   175

   176

    INIT_LIST_HEAD(&master->foe_requests);

   177

    init_waitqueue_head(&master->foe_queue);

   178

   179

    // init devices

   180

    ret = ec_device_init(&master->main_device, master);

   181

    if (ret < 0)

   182

        goto out_return;

   183

   184

    ret = ec_device_init(&master->backup_device, master);

   185

    if (ret < 0)

   186

        goto out_clear_main;

   187

   188

    // init state machine datagram

   189

    ec_datagram_init(&master->fsm_datagram);

   190

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

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

   192

    if (ret < 0) {

   193

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

   194

        goto out_clear_backup;

   195

    }

   196

   197

    // create state machine object

   198

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

   199

   200

    // init character device

   201

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

   202

    if (ret)

   203

        goto out_clear_fsm;

   204

   205

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

   206

    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);

   209

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

   210

    master->class_device = class_device_create(class, NULL,

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

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

   213

#else

   214

    master->class_device = class_device_create(class,

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

   216

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

   217

#endif

   218

    if (IS_ERR(master->class_device)) {

   219

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

   220

        ret = PTR_ERR(master->class_device);

   221

        goto out_clear_cdev;

   222

    }

   223

   224

    return 0;

   225

   226

out_clear_cdev:

   227

    ec_cdev_clear(&master->cdev);

   228

out_clear_fsm:

   229

    ec_fsm_master_clear(&master->fsm);

   230

    ec_datagram_clear(&master->fsm_datagram);

   231

out_clear_backup:

   232

    ec_device_clear(&master->backup_device);

   233

out_clear_main:

   234

    ec_device_clear(&master->main_device);

   235

out_return:

   236

    return ret;

   237

}

   238

   239

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

   240

   241

/** Destructor.

   242

*/

   243

void ec_master_clear(

   244

        ec_master_t *master /**< EtherCAT master */

   245

        )

   246

{

   247

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

   248

    device_unregister(master->class_device);

   249

#else

   250

    class_device_unregister(master->class_device);

   251

#endif

   252

    ec_cdev_clear(&master->cdev);

   253

#ifdef EC_EOE

   254

    ec_master_clear_eoe_handlers(master);

   255

#endif

   256

    ec_master_clear_domains(master);

   257

    ec_master_clear_slave_configs(master);

   258

    ec_master_clear_slaves(master);

   259

    ec_fsm_master_clear(&master->fsm);

   260

    ec_datagram_clear(&master->fsm_datagram);

   261

    ec_device_clear(&master->backup_device);

   262

    ec_device_clear(&master->main_device);

   263

}

   264

   265

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

   266

   267

#ifdef EC_EOE

   268

/** Clear and free all EoE handlers.

   269

 */

   270

void ec_master_clear_eoe_handlers(

   271

        ec_master_t *master /**< EtherCAT master */

   272

        )

   273

{

   274

    ec_eoe_t *eoe, *next;

   275

   276

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

   277

        list_del(&eoe->list);

   278

        ec_eoe_clear(eoe);

   279

        kfree(eoe);

   280

    }

   281

}

   282

#endif

   283

   284

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

   285

   286

/** Clear all slave configurations.

   287

 */

   288

void ec_master_clear_slave_configs(ec_master_t *master)

   289

{

   290

    ec_slave_config_t *sc, *next;

   291

   292

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

   293

        list_del(&sc->list);

   294

        ec_slave_config_clear(sc);

   295

        kfree(sc);

   296

    }

   297

}

   298

   299

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

   300

   301

/** Clear all slaves.

   302

 */

   303

void ec_master_clear_slaves(ec_master_t *master)

   304

{

   305

    ec_slave_t *slave;

   306

   307

    for (slave = master->slaves;

   308

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

   309

            slave++) {

   310

        ec_slave_clear(slave);

   311

    }

   312

   313

    if (master->slaves) {

   314

        kfree(master->slaves);

   315

        master->slaves = NULL;

   316

    }

   317

   318

    master->slave_count = 0;

   319

}

   320

   321

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

   322

   323

/** Clear all domains.

   324

 */

   325

void ec_master_clear_domains(ec_master_t *master)

   326

{

   327

    ec_domain_t *domain, *next;

   328

   329

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

   330

        list_del(&domain->list);

   331

        ec_domain_clear(domain);

   332

        kfree(domain);

   333

    }

   334

}

   335

   336

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

   337

   338

/** Internal locking callback.

   339

 */

   340

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

   341

{

   342

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

   343

    return 0;

   344

}

   345

   346

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

   347

   348

/** Internal unlocking callback.

   349

 */

   350

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

   351

{

   352

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

   353

}

   354

   355

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

   356

   357

/** Starts the master thread.

   358

 *

   359

 * \retval  0 Success.

   360

 * \retval <0 Error code.

   361

 */

   362

int ec_master_thread_start(

   363

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

   364

        int (*thread_func)(void *), /**< thread function to start */

   365

        const char *name /**< Thread name. */

   366

        )

   367

{

   368

    EC_INFO("Starting %s thread.\n", name);

   369

    master->thread = kthread_run(thread_func, master, name);

   370

    if (IS_ERR(master->thread)) {

   371

        int err = (int) PTR_ERR(master->thread);

   372

        EC_ERR("Failed to start master thread (error %i)!\n", err);

   373

        master->thread = NULL;

   374

        return err;

   375

    }

   376

   377

    return 0;

   378

}

   379

   380

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

   381

   382

/** Stops the master thread.

   383

 */

   384

void ec_master_thread_stop(

   385

        ec_master_t *master /**< EtherCAT master */

   386

        )

   387

{

   388

    unsigned long sleep_jiffies;

   389

   390

    if (!master->thread) {

   391

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

   392

        return;

   393

    }

   394

   395

    if (master->debug_level)

   396

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

   397

   398

    kthread_stop(master->thread);

   399

    master->thread = NULL;

   400

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

   401

   402

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

   403

        return;

   404

   405

    // wait for FSM datagram

   406

    sleep_jiffies = max(HZ / 100, 1); // 10 ms, at least 1 jiffy

   407

    schedule_timeout(sleep_jiffies);

   408

}

   409

   410

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

   411

   412

/** Transition function from ORPHANED to IDLE phase.

   413

 */

   414

int ec_master_enter_idle_phase(

   415

        ec_master_t *master /**< EtherCAT master */

   416

        )

   417

{

   418

    int ret;

   419

   420

    if (master->debug_level)

   421

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

   422

   423

    master->request_cb = ec_master_request_cb;

   424

    master->release_cb = ec_master_release_cb;

   425

    master->cb_data = master;

   426

   427

    master->phase = EC_IDLE;

   428

    ret = ec_master_thread_start(master, ec_master_idle_thread,

   429

            "EtherCAT-IDLE");

   430

    if (ret)

   431

        master->phase = EC_ORPHANED;

   432

   433

    return ret;

   434

}

   435

   436

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

   437

   438

/** Transition function from IDLE to ORPHANED phase.

   439

 */

   440

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

   441

{

   442

    if (master->debug_level)

   443

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

   444

   445

    master->phase = EC_ORPHANED;

   446

   447

#ifdef EC_EOE

   448

    ec_master_eoe_stop(master);

   449

#endif

   450

    ec_master_thread_stop(master);

   451

   452

    down(&master->master_sem);

   453

    ec_master_clear_slaves(master);

   454

    up(&master->master_sem);

   455

}

   456

   457

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

   458

   459

/** Transition function from IDLE to OPERATION phase.

   460

 */

   461

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

   462

{

   463

    int ret = 0;

   464

    ec_slave_t *slave;

   465

#ifdef EC_EOE

   466

    ec_eoe_t *eoe;

   467

#endif

   468

   469

    if (master->debug_level)

   470

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

   471

   472

    down(&master->config_sem);

   473

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

   474

    if (master->config_busy) {

   475

        up(&master->config_sem);

   476

   477

        // wait for slave configuration to complete

   478

        ret = wait_event_interruptible(master->config_queue,

   479

                    !master->config_busy);

   480

        if (ret) {

   481

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

   482

            goto out_allow;

   483