1

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

     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

    16

 *  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

    26

 *  industrial property and similar rights of Beckhoff Automation GmbH.

    27

 *

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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

 */

    64

#define DEBUG_INJECT 0

    66

    67

#ifdef EC_HAVE_CYCLES

    68

    69

/** Frame timeout in cycles.

    70

 */

    71

static cycles_t timeout_cycles;

    72

    73

/** Timeout for fsm datagram injection [cycles].

    74

 */

    75

static cycles_t fsm_injection_timeout_cycles;

    76

    77

#else

    78

    79

/** Frame timeout in jiffies.

    80

 */

    81

static unsigned long timeout_jiffies;

    82

    83

/** Timeout for fsm datagram injection [jiffies].

    84

 */

    85

static unsigned long fsm_injection_timeout_jiffies;

    86

    87

#endif

    88

    89

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

    90

    91

void ec_master_clear_slave_configs(ec_master_t *);

    92

void ec_master_clear_domains(ec_master_t *);

    93

static int ec_master_idle_thread(void *);

    94

static int ec_master_operation_thread(void *);

    95

#ifdef EC_EOE

    96

static int ec_master_eoe_processing(ec_master_t *);

    97

#endif

    98

void ec_master_find_dc_ref_clock(ec_master_t *);

    99

   100

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

   101

   102

/** Static variables initializer.

   103

*/

   104

void ec_master_init_static(void)

   105

{

   106

#ifdef EC_HAVE_CYCLES

   107

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

   108

    fsm_injection_timeout_cycles = (cycles_t) EC_FSM_INJECTION_TIMEOUT /* us */ * (cpu_khz / 1000);

   109

#else

   110

    // one jiffy may always elapse between time measurement

   111

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

   112

    fsm_injection_timeout_jiffies = max(EC_FSM_INJECTION_TIMEOUT * HZ / 1000000, 1);

   113

#endif

   114

}

   115

   116

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

   117

   118

/**

   119

   Master constructor.

   120

   \return 0 in case of success, else < 0

   121

*/

   122

   123

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

   124

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

   125

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

   126

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

   127

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

   128

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

   129

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

   130

        )

   131

{

   132

    int ret;

   133

   134

    master->index = index;

   135

    master->reserved = 0;

   136

   137

    ec_mutex_init(&master->master_mutex);

   138

   139

    master->main_mac = main_mac;

   140

    master->backup_mac = backup_mac;

   141

   142

    ec_mutex_init(&master->device_mutex);

   143

   144

    master->phase = EC_ORPHANED;

   145

    master->active = 0;

   146

    master->config_changed = 0;

   147

    master->injection_seq_fsm = 0;

   148

    master->injection_seq_rt = 0;

   149

   150

    master->slaves = NULL;

   151

    master->slave_count = 0;

   152

   153

    INIT_LIST_HEAD(&master->configs);

   154

   155

    master->app_time = 0ULL;

   156

#ifdef EC_HAVE_CYCLES

   157

    master->dc_cycles_app_start_time = 0;

   158

#endif

   159

    master->dc_jiffies_app_start_time = 0;

   160

    master->app_start_time = 0ULL;

   161

    master->has_app_time = 0;

   162

   163

    master->scan_busy = 0;

   164

    master->allow_scan = 1;

   165

    ec_mutex_init(&master->scan_mutex);

   166

    init_waitqueue_head(&master->scan_queue);

   167

   168

    master->config_busy = 0;

   169

    master->allow_config = 1;

   170

    ec_mutex_init(&master->config_mutex);

   171

    init_waitqueue_head(&master->config_queue);

   172

   173

    INIT_LIST_HEAD(&master->datagram_queue);

   174

    master->datagram_index = 0;

   175

   176

    ec_mutex_init(&master->fsm_queue_mutex);

   177

    INIT_LIST_HEAD(&master->fsm_datagram_queue);

   178

   179

    // send interval in IDLE phase

   180

    ec_master_set_send_interval(master, 1000000 / HZ);

   181

   182

    INIT_LIST_HEAD(&master->domains);

   183

   184

    master->debug_level = debug_level;

   185

    master->stats.timeouts = 0;

   186

    master->stats.corrupted = 0;

   187

    master->stats.unmatched = 0;

   188

    master->stats.output_jiffies = 0;

   189

   190

    master->thread = NULL;

   191

   192

#ifdef EC_EOE

   193

    master->eoe_thread = NULL;

   194

    INIT_LIST_HEAD(&master->eoe_handlers);

   195

#endif

   196

   197

    ec_mutex_init(&master->io_mutex);

   198

    master->fsm_queue_lock_cb = NULL;

   199

    master->fsm_queue_unlock_cb = NULL;

   200

    master->fsm_queue_locking_data = NULL;

   201

    master->app_fsm_queue_lock_cb = NULL;

   202

    master->app_fsm_queue_unlock_cb = NULL;

   203

    master->app_fsm_queue_locking_data = NULL;

   204

   205

    INIT_LIST_HEAD(&master->sii_requests);

   206

    init_waitqueue_head(&master->sii_queue);

   207

   208

    INIT_LIST_HEAD(&master->reg_requests);

   209

    init_waitqueue_head(&master->reg_queue);

   210

   211

    // init devices

   212

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

   213

    if (ret < 0)

   214

        goto out_return;

   215

   216

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

   217

    if (ret < 0)

   218

        goto out_clear_main;

   219

   220

    // init state machine datagram

   221

    ec_datagram_init(&master->fsm_datagram);

   222

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

   223

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

   224

    if (ret < 0) {

   225

        ec_datagram_clear(&master->fsm_datagram);

   226

        EC_MASTER_ERR(master, "Failed to allocate FSM datagram.\n");

   227

        goto out_clear_backup;

   228

    }

   229

   230

    // create state machine object

   231

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

   232

   233

    // init reference sync datagram

   234

    ec_datagram_init(&master->ref_sync_datagram);

   235

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

   236

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

   237

    if (ret < 0) {

   238

        ec_datagram_clear(&master->ref_sync_datagram);

   239

        EC_MASTER_ERR(master, "Failed to allocate reference"

   240

                " synchronisation datagram.\n");

   241

        goto out_clear_fsm;

   242

    }

   243

   244

    // init sync datagram

   245

    ec_datagram_init(&master->sync_datagram);

   246

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

   247

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

   248

    if (ret < 0) {

   249

        ec_datagram_clear(&master->sync_datagram);

   250

        EC_MASTER_ERR(master, "Failed to allocate"

   251

                " synchronisation datagram.\n");

   252

        goto out_clear_ref_sync;

   253

    }

   254

   255

    // init sync monitor datagram

   256

    ec_datagram_init(&master->sync_mon_datagram);

   257

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

   258

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

   259

    if (ret < 0) {

   260

        ec_datagram_clear(&master->sync_mon_datagram);

   261

        EC_MASTER_ERR(master, "Failed to allocate sync"

   262

                " monitoring datagram.\n");

   263

        goto out_clear_sync;

   264

    }

   265

   266

    ec_master_find_dc_ref_clock(master);

   267

   268

    // init character device

   269

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

   270

    if (ret)

   271

        goto out_clear_sync_mon;

   272

   273

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

   274

    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);

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#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),

   280

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

   281

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

   282

    master->class_device = class_device_create(class, NULL,

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

   284

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

   285

#else

   286

    master->class_device = class_device_create(class,

   287

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

   288

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

   289

#endif

   290

    if (IS_ERR(master->class_device)) {

   291

        EC_MASTER_ERR(master, "Failed to create class device!\n");

   292

        ret = PTR_ERR(master->class_device);

   293

        goto out_clear_cdev;

   294

    }

   295

   296

    return 0;

   297

   298

out_clear_cdev:

   299

    ec_cdev_clear(&master->cdev);

   300

out_clear_sync_mon:

   301

    ec_datagram_clear(&master->sync_mon_datagram);

   302

out_clear_sync:

   303

    ec_datagram_clear(&master->sync_datagram);

   304

out_clear_ref_sync:

   305

    ec_datagram_clear(&master->ref_sync_datagram);

   306

out_clear_fsm:

   307

    ec_fsm_master_clear(&master->fsm);

   308

    ec_datagram_clear(&master->fsm_datagram);

   309

out_clear_backup:

   310

    ec_device_clear(&master->backup_device);

   311

out_clear_main:

   312

    ec_device_clear(&master->main_device);

   313

out_return:

   314

    return ret;

   315

}

   316

   317

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

   318

   319

/** Destructor.

   320

*/

   321

void ec_master_clear(

   322

        ec_master_t *master /**< EtherCAT master */

   323

        )

   324

{

   325

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

   326

    device_unregister(master->class_device);

   327

#else

   328

    class_device_unregister(master->class_device);

   329

#endif

   330

   331

    ec_cdev_clear(&master->cdev);

   332

   333

#ifdef EC_EOE

   334

    ec_master_clear_eoe_handlers(master);

   335

#endif

   336

    ec_master_clear_domains(master);

   337

    ec_master_clear_slave_configs(master);

   338

    ec_master_clear_slaves(master);

   339

   340

    ec_datagram_clear(&master->sync_mon_datagram);

   341

    ec_datagram_clear(&master->sync_datagram);

   342

    ec_datagram_clear(&master->ref_sync_datagram);

   343

    ec_fsm_master_clear(&master->fsm);

   344

    ec_datagram_clear(&master->fsm_datagram);

   345

    ec_device_clear(&master->backup_device);

   346

    ec_device_clear(&master->main_device);

   347

}

   348

   349

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

   350

   351

#ifdef EC_EOE

   352

/** Clear and free all EoE handlers.

   353

 */

   354

void ec_master_clear_eoe_handlers(

   355

        ec_master_t *master /**< EtherCAT master */

   356

        )

   357

{

   358

    ec_eoe_t *eoe, *next;

   359

   360

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

   361

        list_del(&eoe->list);

   362

        ec_eoe_clear(eoe);

   363

        kfree(eoe);

   364

    }

   365

}

   366

#endif

   367

   368

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

   369

   370

/** Clear all slave configurations.

   371

 */

   372

void ec_master_clear_slave_configs(ec_master_t *master)

   373

{

   374

    ec_slave_config_t *sc, *next;

   375

   376

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

   377

        list_del(&sc->list);

   378

        ec_slave_config_clear(sc);

   379

        kfree(sc);

   380

    }

   381

}

   382

   383

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

   384

   385

/** Clear all slaves.

   386

 */

   387

void ec_master_clear_slaves(ec_master_t *master)

   388

{

   389

    ec_slave_t *slave;

   390

   391

    master->dc_ref_clock = NULL;

   392

   393

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

   394

    // them from the list

   395

   396

    while (!list_empty(&master->sii_requests)) {

   397

        ec_sii_write_request_t *request =

   398

            list_entry(master->sii_requests.next,

   399

                    ec_sii_write_request_t, list);

   400

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

   401

        EC_MASTER_WARN(master, "Discarding SII request, slave %u about"

   402

                " to be deleted.\n", request->slave->ring_position);

   403

        request->state = EC_INT_REQUEST_FAILURE;

   404

        kref_put(&request->refcount,ec_master_sii_write_request_release);

   405

        wake_up(&master->sii_queue);

   406

    }

   407

   408

    while (!list_empty(&master->reg_requests)) {

   409

        ec_reg_request_t *request =

   410

            list_entry(master->reg_requests.next, ec_reg_request_t, list);

   411

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

   412

        EC_MASTER_WARN(master, "Discarding register request, slave %u"

   413

                " about to be deleted.\n", request->slave->ring_position);

   414

        request->state = EC_INT_REQUEST_FAILURE;

   415

        kref_put(&request->refcount,ec_master_reg_request_release);

   416

        wake_up(&master->reg_queue);

   417

    }

   418

   419

    for (slave = master->slaves;

   420

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

   421

            slave++) {

   422

        ec_slave_clear(slave);

   423

    }

   424

   425

    if (master->slaves) {

   426

        kfree(master->slaves);

   427

        master->slaves = NULL;

   428

    }

   429

   430

    master->slave_count = 0;

   431

}

   432

   433

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

   434

   435

/** Clear all domains.

   436

 */

   437

void ec_master_clear_domains(ec_master_t *master)

   438

{

   439

    ec_domain_t *domain, *next;

   440

   441

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

   442

        list_del(&domain->list);

   443

        ec_domain_clear(domain);

   444

        kfree(domain);

   445

    }

   446

}

   447

   448

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

   449

   450

/** Clear the configuration applied by the application.

   451

 */

   452

void ec_master_clear_config(

   453

        ec_master_t *master /**< EtherCAT master. */

   454

        )

   455

{

   456

    ec_mutex_lock(&master->master_mutex);

   457

    ec_master_clear_domains(master);

   458

    ec_master_clear_slave_configs(master);

   459

    ec_mutex_unlock(&master->master_mutex);

   460

}

   461

   462

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

   463

   464

/** Starts the master thread.

   465

 *

   466

 * \retval  0 Success.

   467

 * \retval <0 Error code.

   468

 */

   469

int ec_master_thread_start(

   470

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

   471

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

   472

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

   473

        )

   474

{

   475

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

   476

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

   477

    if (IS_ERR(master->thread)) {

   478

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

   479

        EC_MASTER_ERR(master, "Failed to start master thread (error %i)!\n",

   480

                err);

   481

        master->thread = NULL;