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

     2

 *

     3

 *  $Id$

     4

 *

     5

 *  Copyright (C) 2006-2008  Florian Pose, Ingenieurgemeinschaft IgH

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 *

     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.

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 *

    13

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

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 *  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

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 *

    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.

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 *

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 *  vim: expandtab

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 *

    30

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

    31

    32

/**

    33

   \file

    34

   EtherCAT master methods.

    35

*/

    36

    37

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

    38

    39

#include <linux/module.h>

    40

#include <linux/kernel.h>

    41

#include <linux/string.h>

    42

#include <linux/slab.h>

    43

#include <linux/delay.h>

    44

#include <linux/device.h>

    45

#include <linux/version.h>

    46

#include <linux/hrtimer.h>

    47

#include "globals.h"

    48

#include "slave.h"

    49

#include "slave_config.h"

    50

#include "device.h"

    51

#include "datagram.h"

    52

#ifdef EC_EOE

    53

#include "ethernet.h"

    54

#endif

    55

#include "master.h"

    56

    57

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

    58

    59

/** Set to 1 to enable external datagram injection debugging.

    60

 */

    61

#define DEBUG_INJECT 0

    62

    63

#ifdef EC_HAVE_CYCLES

    64

    65

/** Frame timeout in cycles.

    66

 */

    67

static cycles_t timeout_cycles;

    68

static cycles_t sdo_injection_timeout_cycles;

    69

#else

    70

    71

/** Frame timeout in jiffies.

    72

 */

    73

static unsigned long timeout_jiffies;

    74

static unsigned long sdo_injection_timeout_jiffies;

    75

    76

#endif

    77

    78

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

    79

    80

void ec_master_clear_slave_configs(ec_master_t *);

    81

void ec_master_clear_domains(ec_master_t *);

    82

static int ec_master_idle_thread(void *);

    83

static int ec_master_operation_thread(void *);

    84

#ifdef EC_EOE

    85

static int ec_master_eoe_thread(void *);

    86

#endif

    87

void ec_master_find_dc_ref_clock(ec_master_t *);

    88

    89

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

    90

    91

/** Static variables initializer.

    92

*/

    93

void ec_master_init_static(void)

    94

{

    95

#ifdef EC_HAVE_CYCLES

    96

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

    97

    sdo_injection_timeout_cycles = (cycles_t) EC_SDO_INJECTION_TIMEOUT /* us */ * (cpu_khz / 1000);

    98

#else

    99

    // one jiffy may always elapse between time measurement

   100

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

   101

    sdo_injection_timeout_jiffies = max(EC_SDO_INJECTION_TIMEOUT * HZ / 1000000, 1);

   102

#endif

   103

}

   104

   105

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

   106

   107

/**

   108

   Master constructor.

   109

   \return 0 in case of success, else < 0

   110

*/

   111

   112

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

   113

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

   114

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

   115

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

   116

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

   117

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

   118

        unsigned int debug_level /**< Debug level (module parameter). */

   119

        )

   120

{

   121

    int ret;

   122

   123

    master->index = index;

   124

    master->reserved = 0;

   125

   126

    sema_init(&master->master_sem, 1);

   127

   128

    master->main_mac = main_mac;

   129

    master->backup_mac = backup_mac;

   130

   131

    sema_init(&master->device_sem, 1);

   132

   133

    master->phase = EC_ORPHANED;

   134

    master->active = 0;

   135

    master->injection_seq_fsm = 0;

   136

    master->injection_seq_rt = 0;

   137

   138

    master->slaves = NULL;

   139

    master->slave_count = 0;

   140

   141

    INIT_LIST_HEAD(&master->configs);

   142

   143

    master->app_time = 0ULL;

   144

    master->app_start_time = 0ULL;

   145

    master->has_start_time = 0;

   146

   147

    master->scan_busy = 0;

   148

    master->allow_scan = 1;

   149

    sema_init(&master->scan_sem, 1);

   150

    init_waitqueue_head(&master->scan_queue);

   151

   152

    master->config_busy = 0;

   153

    master->allow_config = 1;

   154

    sema_init(&master->config_sem, 1);

   155

    init_waitqueue_head(&master->config_queue);

   156

   157

    INIT_LIST_HEAD(&master->datagram_queue);

   158

    master->datagram_index = 0;

   159

   160

    INIT_LIST_HEAD(&master->ext_datagram_queue);

   161

    sema_init(&master->ext_queue_sem, 1);

   162

   163

    INIT_LIST_HEAD(&master->external_datagram_queue);

   164

   165

    // send interval in IDLE phase

   166

    ec_master_set_send_interval(master, 1000000 / HZ);

   167

   168

    INIT_LIST_HEAD(&master->domains);

   169

   170

    master->debug_level = debug_level;

   171

    master->stats.timeouts = 0;

   172

    master->stats.corrupted = 0;

   173

    master->stats.unmatched = 0;

   174

    master->stats.output_jiffies = 0;

   175

   176

    master->thread = NULL;

   177

   178

#ifdef EC_EOE

   179

    master->eoe_thread = NULL;

   180

    INIT_LIST_HEAD(&master->eoe_handlers);

   181

#endif

   182

   183

    sema_init(&master->io_sem, 1);

   184

    master->send_cb = NULL;

   185

    master->receive_cb = NULL;

   186

    master->cb_data = NULL;

   187

    master->app_send_cb = NULL;

   188

    master->app_receive_cb = NULL;

   189

    master->app_cb_data = NULL;

   190

   191

    INIT_LIST_HEAD(&master->sii_requests);

   192

    init_waitqueue_head(&master->sii_queue);

   193

   194

    INIT_LIST_HEAD(&master->reg_requests);

   195

    init_waitqueue_head(&master->reg_queue);

   196

   197

    // init devices

   198

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

   199

    if (ret < 0)

   200

        goto out_return;

   201

   202

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

   203

    if (ret < 0)

   204

        goto out_clear_main;

   205

   206

    // init state machine datagram

   207

    ec_datagram_init(&master->fsm_datagram);

   208

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

   209

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

   210

    if (ret < 0) {

   211

        ec_datagram_clear(&master->fsm_datagram);

   212

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

   213

        goto out_clear_backup;

   214

    }

   215

   216

    // create state machine object

   217

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

   218

   219

    // init reference sync datagram

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    ec_datagram_init(&master->ref_sync_datagram);

   221

    snprintf(master->ref_sync_datagram.name, EC_DATAGRAM_NAME_SIZE, "refsync");

   222

    ret = ec_datagram_apwr(&master->ref_sync_datagram, 0, 0x0910, 8);

   223

    if (ret < 0) {

   224

        ec_datagram_clear(&master->ref_sync_datagram);

   225

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

   226

        goto out_clear_fsm;

   227

    }

   228

   229

    // init sync datagram

   230

    ec_datagram_init(&master->sync_datagram);

   231

    snprintf(master->sync_datagram.name, EC_DATAGRAM_NAME_SIZE, "sync");

   232

    ret = ec_datagram_prealloc(&master->sync_datagram, 4);

   233

    if (ret < 0) {

   234

        ec_datagram_clear(&master->sync_datagram);

   235

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

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        goto out_clear_ref_sync;

   237

    }

   238

   239

    // init sync monitor datagram

   240

    ec_datagram_init(&master->sync_mon_datagram);

   241

    snprintf(master->sync_mon_datagram.name, EC_DATAGRAM_NAME_SIZE, "syncmon");

   242

    ret = ec_datagram_brd(&master->sync_mon_datagram, 0x092c, 4);

   243

    if (ret < 0) {

   244

        ec_datagram_clear(&master->sync_mon_datagram);

   245

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

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        goto out_clear_sync;

   247

    }

   248

   249

    ec_master_find_dc_ref_clock(master);

   250

   251

    // init character device

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

   253

    if (ret)

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        goto out_clear_sync_mon;

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#if LINUX_VERSION_CODE >= KERNEL_VERSION(2, 6, 27)

   257

    master->class_device = device_create(class, NULL,

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

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

   260

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

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    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);

   264

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

   265

    master->class_device = class_device_create(class, NULL,

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

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

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#else

   269

    master->class_device = class_device_create(class,

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

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

   272

#endif

   273

    if (IS_ERR(master->class_device)) {

   274

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

   275

        ret = PTR_ERR(master->class_device);

   276

        goto out_clear_cdev;

   277

    }

   278

   279

    return 0;

   280

   281

out_clear_cdev:

   282

    ec_cdev_clear(&master->cdev);

   283

out_clear_sync_mon:

   284

    ec_datagram_clear(&master->sync_mon_datagram);

   285

out_clear_sync:

   286

    ec_datagram_clear(&master->sync_datagram);

   287

out_clear_ref_sync:

   288

    ec_datagram_clear(&master->ref_sync_datagram);

   289

out_clear_fsm:

   290

    ec_fsm_master_clear(&master->fsm);

   291

    ec_datagram_clear(&master->fsm_datagram);

   292

out_clear_backup:

   293

    ec_device_clear(&master->backup_device);

   294

out_clear_main:

   295

    ec_device_clear(&master->main_device);

   296

out_return:

   297

    return ret;

   298

}

   299

   300

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

   301

   302

/** Destructor.

   303

*/

   304

void ec_master_clear(

   305

        ec_master_t *master /**< EtherCAT master */

   306

        )

   307

{

   308

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

   309

    device_unregister(master->class_device);

   310

#else

   311

    class_device_unregister(master->class_device);

   312

#endif

   313

   314

    ec_cdev_clear(&master->cdev);

   315

   316

#ifdef EC_EOE

   317

    ec_master_clear_eoe_handlers(master);

   318

#endif

   319

    ec_master_clear_domains(master);

   320

    ec_master_clear_slave_configs(master);

   321

    ec_master_clear_slaves(master);

   322

   323

    ec_datagram_clear(&master->sync_mon_datagram);

   324

    ec_datagram_clear(&master->sync_datagram);

   325

    ec_datagram_clear(&master->ref_sync_datagram);

   326

    ec_fsm_master_clear(&master->fsm);

   327

    ec_datagram_clear(&master->fsm_datagram);

   328

    ec_device_clear(&master->backup_device);

   329

    ec_device_clear(&master->main_device);

   330

}

   331

   332

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

   333

   334

#ifdef EC_EOE

   335

/** Clear and free all EoE handlers.

   336

 */

   337

void ec_master_clear_eoe_handlers(

   338

        ec_master_t *master /**< EtherCAT master */

   339

        )

   340

{

   341

    ec_eoe_t *eoe, *next;

   342

   343

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

   344

        list_del(&eoe->list);

   345

        ec_eoe_clear(eoe);

   346

        kfree(eoe);

   347

    }

   348

}

   349

#endif

   350

   351

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

   352

   353

/** Clear all slave configurations.

   354

 */

   355

void ec_master_clear_slave_configs(ec_master_t *master)

   356

{

   357

    ec_slave_config_t *sc, *next;

   358

   359

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

   360

        list_del(&sc->list);

   361

        ec_slave_config_clear(sc);

   362

        kfree(sc);

   363

    }

   364

}

   365

   366

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

   367

   368

/** Clear all slaves.

   369

 */

   370

void ec_master_clear_slaves(ec_master_t *master)

   371

{

   372

    ec_slave_t *slave;

   373

   374

    master->dc_ref_clock = NULL;

   375

   376

    // external requests are obsolete, so we wake pending waiters and remove

   377

    // them from the list

   378

    //

   379

    // SII requests

   380

    while (1) {

   381

        ec_sii_write_request_t *request;

   382

        if (list_empty(&master->sii_requests))

   383

            break;

   384

        // get first request

   385

        request = list_entry(master->sii_requests.next,

   386

                ec_sii_write_request_t, list);

   387

        list_del_init(&request->list); // dequeue

   388

        EC_INFO("Discarding SII request, slave %u does not exist anymore.\n",

   389

                request->slave->ring_position);

   390

        request->state = EC_INT_REQUEST_FAILURE;

   391

        wake_up(&master->sii_queue);

   392

    }

   393

   394

    // Register requests

   395

    while (1) {

   396

        ec_reg_request_t *request;

   397

        if (list_empty(&master->reg_requests))

   398

            break;

   399

        // get first request

   400

        request = list_entry(master->reg_requests.next,

   401

                ec_reg_request_t, list);

   402

        list_del_init(&request->list); // dequeue

   403

        EC_INFO("Discarding Reg request, slave %u does not exist anymore.\n",

   404

                request->slave->ring_position);

   405

        request->state = EC_INT_REQUEST_FAILURE;

   406

        wake_up(&master->reg_queue);

   407

    }

   408

   409

    for (slave = master->slaves;

   410

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

   411

            slave++) {

   412

        // SDO requests

   413

        while (1) {

   414

            ec_master_sdo_request_t *request;

   415

            if (list_empty(&slave->slave_sdo_requests))

   416

                break;

   417

            // get first request

   418

            request = list_entry(slave->slave_sdo_requests.next,

   419

                    ec_master_sdo_request_t, list);

   420

            list_del_init(&request->list); // dequeue

   421

            EC_INFO("Discarding SDO request,"

   422

                    " slave %u does not exist anymore.\n",

   423

                    slave->ring_position);

   424

            request->req.state = EC_INT_REQUEST_FAILURE;

   425

            wake_up(&slave->sdo_queue);

   426

        }

   427

        // FoE requests

   428

        while (1) {

   429

            ec_master_foe_request_t *request;

   430

            if (list_empty(&slave->foe_requests))

   431

                break;

   432

            // get first request

   433

            request = list_entry(slave->foe_requests.next,

   434

                    ec_master_foe_request_t, list);

   435

            list_del_init(&request->list); // dequeue

   436

            EC_INFO("Discarding FoE request,"

   437

                    " slave %u does not exist anymore.\n",

   438

                    slave->ring_position);

   439

            request->req.state = EC_INT_REQUEST_FAILURE;

   440

            wake_up(&slave->foe_queue);

   441

        }

   442

        // SoE requests

   443

        while (1) {

   444

            ec_master_soe_request_t *request;

   445

            if (list_empty(&slave->soe_requests))

   446

                break;

   447

            // get first request

   448

            request = list_entry(slave->soe_requests.next,

   449

                    ec_master_soe_request_t, list);

   450

            list_del_init(&request->list); // dequeue

   451

            EC_INFO("Discarding SoE request,"

   452

                    " slave %u does not exist anymore.\n",

   453

                    slave->ring_position);

   454

            request->req.state = EC_INT_REQUEST_FAILURE;

   455

            wake_up(&slave->soe_queue);

   456

        }

   457

        ec_slave_clear(slave);

   458

    }

   459

   460

    if (master->slaves) {

   461

        kfree(master->slaves);

   462

        master->slaves = NULL;

   463

    }

   464

   465

    master->slave_count = 0;

   466

}

   467

   468

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

   469

   470

/** Clear all domains.

   471

 */

   472

void ec_master_clear_domains(ec_master_t *master)

   473

{

   474

    ec_domain_t *domain, *next;

   475

   476

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

   477

        list_del(&domain->list);

   478

        ec_domain_clear(domain);

   479

        kfree(domain);

   480

    }

   481

}

   482

   483