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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_clear(struct kobject *);

    58

void ec_master_destroy_domains(ec_master_t *);

    59

void ec_master_sync_io(ec_master_t *);

    60

static int ec_master_thread(void *);

    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(eeprom_write_enable);

    74

EC_SYSFS_READ_WRITE_ATTR(debug_level);

    75

    76

static struct attribute *ec_def_attrs[] = {

    77

    &attr_info,

    78

    &attr_eeprom_write_enable,

    79

    &attr_debug_level,

    80

    NULL,

    81

};

    82

    83

static struct sysfs_ops ec_sysfs_ops = {

    84

    .show = &ec_show_master_attribute,

    85

    .store = ec_store_master_attribute

    86

};

    87

    88

static struct kobj_type ktype_ec_master = {

    89

    .release = ec_master_clear,

    90

    .sysfs_ops = &ec_sysfs_ops,

    91

    .default_attrs = ec_def_attrs

    92

};

    93

    94

/** \endcond */

    95

    96

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

    97

    98

/**

    99

   Master constructor.

   100

   \return 0 in case of success, else < 0

   101

*/

   102

   103

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

   104

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

   105

                   unsigned int eoeif_count, /**< number of EoE interfaces */

   106

                   dev_t dev_num /**< number for XML cdev's */

   107

                   )

   108

{

   109

    ec_eoe_t *eoe, *next_eoe;

   110

    unsigned int i;

   111

   112

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

   113

   114

    atomic_set(&master->available, 1);

   115

    master->index = index;

   116

   117

    master->device = NULL;

   118

    init_MUTEX(&master->device_sem);

   119

   120

    master->mode = EC_MASTER_MODE_ORPHANED;

   121

   122

    INIT_LIST_HEAD(&master->slaves);

   123

    master->slave_count = 0;

   124

   125

    INIT_LIST_HEAD(&master->datagram_queue);

   126

    master->datagram_index = 0;

   127

   128

    INIT_LIST_HEAD(&master->domains);

   129

    master->debug_level = 0;

   130

   131

    master->stats.timeouts = 0;

   132

    master->stats.corrupted = 0;

   133

    master->stats.skipped = 0;

   134

    master->stats.unmatched = 0;

   135

    master->stats.output_jiffies = 0;

   136

   137

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

   138

        master->idle_cycle_times[i] = 0;

   139

        master->eoe_cycle_times[i] = 0;

   140

    }

   141

    master->idle_cycle_time_pos = 0;

   142

    master->eoe_cycle_time_pos = 0;

   143

   144

    init_timer(&master->eoe_timer);

   145

    master->eoe_timer.function = ec_master_eoe_run;

   146

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

   147

    master->eoe_running = 0;

   148

    master->eoe_checked = 0;

   149

    INIT_LIST_HEAD(&master->eoe_handlers);

   150

   151

    master->internal_lock = SPIN_LOCK_UNLOCKED;

   152

    master->request_cb = NULL;

   153

    master->release_cb = NULL;

   154

    master->cb_data = NULL;

   155

   156

    master->eeprom_write_enable = 0;

   157

   158

    master->sdo_request = NULL;

   159

    master->sdo_seq_user = 0;

   160

    master->sdo_seq_master = 0;

   161

    init_MUTEX(&master->sdo_sem);

   162

    init_timer(&master->sdo_timer);

   163

    master->sdo_timer.function = ec_master_check_sdo;

   164

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

   165

    init_completion(&master->sdo_complete);

   166

   167

    // init XML character device

   168

    if (ec_xmldev_init(&master->xmldev, master, dev_num)) {

   169

        EC_ERR("Failed to init XML character device.\n");

   170

        goto out_return;

   171

    }

   172

   173

    // create EoE handlers

   174

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

   175

        if (!(eoe = (ec_eoe_t *) kmalloc(sizeof(ec_eoe_t), GFP_KERNEL))) {

   176

            EC_ERR("Failed to allocate EoE-Object.\n");

   177

            goto out_clear_eoe;

   178

        }

   179

        if (ec_eoe_init(eoe)) {

   180

            kfree(eoe);

   181

            goto out_clear_eoe;

   182

        }

   183

        list_add_tail(&eoe->list, &master->eoe_handlers);

   184

    }

   185

   186

    // init state machine datagram

   187

    ec_datagram_init(&master->fsm_datagram);

   188

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

   189

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

   190

        goto out_clear_eoe;

   191

    }

   192

   193

    // create state machine object

   194

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

   195

   196

    // init kobject and add it to the hierarchy

   197

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

   198

    kobject_init(&master->kobj);

   199

    master->kobj.ktype = &ktype_ec_master;

   200

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

   201

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

   202

        kobject_put(&master->kobj);

   203

        return -1;

   204

    }

   205

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

   206

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

   207

        kobject_put(&master->kobj);

   208

        return -1;

   209

    }

   210

   211

    return 0;

   212

   213

out_clear_eoe:

   214

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

   215

        list_del(&eoe->list);

   216

        ec_eoe_clear(eoe);

   217

        kfree(eoe);

   218

    }

   219

    ec_xmldev_clear(&master->xmldev);

   220

out_return:

   221

    return -1;

   222

}

   223

   224

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

   225

   226

/**

   227

   Master destructor.

   228

   Clears the kobj-hierarchy bottom up and frees the master.

   229

*/

   230

   231

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

   232

{

   233

    ec_master_destroy_slaves(master);

   234

    ec_master_destroy_domains(master);

   235

   236

    // destroy self

   237

    kobject_del(&master->kobj);

   238

    kobject_put(&master->kobj); // free master

   239

}

   240

   241

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

   242

   243

/**

   244

   Clear and free master.

   245

   This method is called by the kobject,

   246

   once there are no more references to it.

   247

*/

   248

   249

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

   250

{

   251

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

   252

    ec_eoe_t *eoe, *next_eoe;

   253

    ec_datagram_t *datagram, *next_datagram;

   254

   255

    // dequeue all datagrams

   256

    list_for_each_entry_safe(datagram, next_datagram,

   257

                             &master->datagram_queue, queue) {

   258

        datagram->state = EC_DATAGRAM_ERROR;

   259

        list_del_init(&datagram->queue);

   260

    }

   261

   262

    ec_fsm_master_clear(&master->fsm);

   263

    ec_datagram_clear(&master->fsm_datagram);

   264

    ec_xmldev_clear(&master->xmldev);

   265

   266

    // clear EoE objects

   267

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

   268

        list_del(&eoe->list);

   269

        ec_eoe_clear(eoe);

   270

        kfree(eoe);

   271

    }

   272

   273

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

   274

   275

    kfree(master);

   276

}

   277

   278

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

   279

   280

/**

   281

   Destroy all slaves.

   282

*/

   283

   284

void ec_master_destroy_slaves(ec_master_t *master)

   285

{

   286

    ec_slave_t *slave, *next_slave;

   287

   288

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

   289

        list_del(&slave->list);

   290

        ec_slave_destroy(slave);

   291

    }

   292

   293

    master->slave_count = 0;

   294

}

   295

   296

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

   297

   298

/**

   299

   Destroy all domains.

   300

*/

   301

   302

void ec_master_destroy_domains(ec_master_t *master)

   303

{

   304

    ec_domain_t *domain, *next_d;

   305

   306

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

   307

        list_del(&domain->list);

   308

        ec_domain_destroy(domain);

   309

    }

   310

}

   311

   312

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

   313

   314

/**

   315

   Flushes the SDO request queue.

   316

*/

   317

   318

void ec_master_flush_sdo_requests(ec_master_t *master)

   319

{

   320

    del_timer_sync(&master->sdo_timer);

   321

    complete(&master->sdo_complete);

   322

    master->sdo_request = NULL;

   323

    master->sdo_seq_user = 0;

   324

    master->sdo_seq_master = 0;

   325

}

   326

   327

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

   328

   329

/**

   330

   Internal locking callback.

   331

*/

   332

   333

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

   334

{

   335

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

   336

    return 0;

   337

}

   338

   339

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

   340

   341

/**

   342

   Internal unlocking callback.

   343

*/

   344

   345

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

   346

{

   347

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

   348

}

   349

   350

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

   351

   352

/**

   353

 * Starts the master thread.

   354

*/

   355

   356

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

   357

{

   358

    init_completion(&master->thread_exit);

   359

   360

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

   361

    if (!(master->thread_id =

   362

                kernel_thread(ec_master_thread, master, CLONE_KERNEL)))

   363

        return -1;

   364

   365

    return 0;

   366

}

   367

   368

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

   369

   370

/**

   371

 * Stops the master thread.

   372

*/

   373

   374

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

   375

{

   376

    if (master->thread_id) {

   377

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

   378

        wait_for_completion(&master->thread_exit);

   379

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

   380

    }    

   381

}

   382

   383

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

   384

   385

/**

   386

 * Transition function from ORPHANED to IDLE mode.

   387

*/

   388

   389

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

   390

{

   391

    master->request_cb = ec_master_request_cb;

   392

    master->release_cb = ec_master_release_cb;

   393

    master->cb_data = master;

   394

   395

    master->mode = EC_MASTER_MODE_IDLE;

   396

    if (ec_master_thread_start(master)) {

   397

        master->mode = EC_MASTER_MODE_ORPHANED;

   398

        return -1;

   399

    }

   400

   401

    return 0;

   402

}

   403

   404

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

   405

   406

/**

   407

 * Transition function from IDLE to ORPHANED mode.

   408

*/

   409

   410

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

   411

{

   412

    master->mode = EC_MASTER_MODE_ORPHANED;

   413

   414

    ec_master_eoe_stop(master);

   415

    ec_master_thread_stop(master);

   416

    ec_master_flush_sdo_requests(master);

   417

}

   418

   419

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

   420

   421

/**

   422

 * Transition function from IDLE to OPERATION mode.

   423

*/

   424

   425

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

   426

{

   427

    ec_slave_t *slave;

   428

   429

    ec_master_eoe_stop(master); // stop EoE timer

   430

    master->eoe_checked = 1; // prevent from starting again by FSM

   431

    ec_master_thread_stop(master);

   432

   433

    master->mode = EC_MASTER_MODE_OPERATION;

   434

   435

    // wait for FSM datagram

   436

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

   437

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

   438

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

   439

        ecrt_master_receive(master);

   440

    }

   441

   442

    // finish running master FSM

   443

    if (ec_fsm_master_running(&master->fsm)) {

   444

        while (ec_fsm_master_exec(&master->fsm)) {

   445

            ec_master_sync_io(master);

   446

        }

   447

    }

   448

   449

    if (master->debug_level) {

   450

        if (ec_master_measure_bus_time(master)) {

   451

            EC_ERR("Bus time measuring failed!\n");

   452

            goto out_idle;

   453

        }

   454

    }

   455

   456

    // set initial slave states

   457

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

   458

        if (ec_slave_is_coupler(slave)) {

   459

            ec_slave_request_state(slave, EC_SLAVE_STATE_OP);

   460

        }

   461

        else {

   462

            ec_slave_request_state(slave, EC_SLAVE_STATE_PREOP);

   463

        }

   464

    }

   465

   466

    master->eoe_checked = 0; // allow starting EoE again

   467

   468

    return 0;

   469

   470

 out_idle:

   471

    master->mode = EC_MASTER_MODE_IDLE;

   472

    if (ec_master_thread_start(master)) {

   473

        EC_WARN("Failed to start master thread again!\n");

   474

    }

   475

    return -1;

   476

}

   477

   478

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

   479

   480

/**

   481

 * Transition function from OPERATION to IDLE mode.

   482

*/

   483

   484

void ec_master_leave_operation_mode(ec_master_t *master

   485

                                    /**< EtherCAT master */)

   486

{

   487

    ec_slave_t *slave;