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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

    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

 *

    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

static cycles_t sdo_injection_timeout_cycles;

    63

#else

    64

    65

/** Frame timeout in jiffies.

    66

 */

    67

static unsigned long timeout_jiffies;

    68

static unsigned long sdo_injection_timeout_jiffies;

    69

    70

#endif

    71

    72

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

    73

    74

void ec_master_clear_slave_configs(ec_master_t *);

    75

void ec_master_clear_domains(ec_master_t *);

    76

static int ec_master_idle_thread(void *);

    77

static int ec_master_operation_thread(void *);

    78

#ifdef EC_EOE

    79

static int ec_master_eoe_thread(void *);

    80

#endif

    81

void ec_master_find_dc_ref_clock(ec_master_t *);

    82

    83

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

    84

    85

/** Static variables initializer.

    86

*/

    87

void ec_master_init_static(void)

    88

{

    89

#ifdef EC_HAVE_CYCLES

    90

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

    91

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

    92

#else

    93

    // one jiffy may always elapse between time measurement

    94

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

    95

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

    96

#endif

    97

}

    98

    99

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

   100

   101

/**

   102

   Master constructor.

   103

   \return 0 in case of success, else < 0

   104

*/

   105

   106

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

   107

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

   108

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

   109

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

   110

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

   111

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

   112

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

   113

        )

   114

{

   115

    int ret;

   116

   117

    master->index = index;

   118

    master->reserved = 0;

   119

   120

    sema_init(&master->master_sem, 1);

   121

   122

    master->main_mac = main_mac;

   123

    master->backup_mac = backup_mac;

   124

   125

    sema_init(&master->device_sem, 1);

   126

   127

    master->phase = EC_ORPHANED;

   128

    master->active = 0;

   129

    master->injection_seq_fsm = 0;

   130

    master->injection_seq_rt = 0;

   131

   132

    master->slaves = NULL;

   133

    master->slave_count = 0;

   134

   135

    INIT_LIST_HEAD(&master->configs);

   136

   137

    master->app_time = 0ULL;

   138

    master->app_start_time = 0ULL;

   139

    master->has_start_time = 0;

   140

   141

    master->scan_busy = 0;

   142

    master->allow_scan = 1;

   143

    sema_init(&master->scan_sem, 1);

   144

    init_waitqueue_head(&master->scan_queue);

   145

   146

    master->config_busy = 0;

   147

    master->allow_config = 1;

   148

    sema_init(&master->config_sem, 1);

   149

    init_waitqueue_head(&master->config_queue);

   150

   151

    INIT_LIST_HEAD(&master->datagram_queue);

   152

    master->datagram_index = 0;

   153

   154

    INIT_LIST_HEAD(&master->ext_datagram_queue);

   155

    sema_init(&master->ext_queue_sem, 1);

   156

   157

    INIT_LIST_HEAD(&master->sdo_datagram_queue);

   158

    master->max_queue_size = EC_MAX_DATA_SIZE;

   159

   160

    INIT_LIST_HEAD(&master->domains);

   161

   162

    master->debug_level = debug_level;

   163

    master->stats.timeouts = 0;

   164

    master->stats.corrupted = 0;

   165

    master->stats.unmatched = 0;

   166

    master->stats.output_jiffies = 0;

   167

    master->frames_timed_out = 0;

   168

   169

    master->thread = NULL;

   170

   171

#ifdef EC_EOE

   172

    master->eoe_thread = NULL;

   173

    INIT_LIST_HEAD(&master->eoe_handlers);

   174

#endif

   175

   176

    sema_init(&master->io_sem, 1);

   177

    master->send_cb = NULL;

   178

    master->receive_cb = NULL;

   179

    master->cb_data = NULL;

   180

    master->app_send_cb = NULL;

   181

    master->app_receive_cb = NULL;

   182

    master->app_cb_data = NULL;

   183

   184

    INIT_LIST_HEAD(&master->sii_requests);

   185

    init_waitqueue_head(&master->sii_queue);

   186

   187

    INIT_LIST_HEAD(&master->reg_requests);

   188

    init_waitqueue_head(&master->reg_queue);

   189

   190

    INIT_LIST_HEAD(&master->foe_requests);

   191

    init_waitqueue_head(&master->foe_queue);

   192

   193

    // init devices

   194

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

   195

    if (ret < 0)

   196

        goto out_return;

   197

   198

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

   199

    if (ret < 0)

   200

        goto out_clear_main;

   201

   202

    // init state machine datagram

   203

    ec_datagram_init(&master->fsm_datagram);

   204

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

   205

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

   206

    if (ret < 0) {

   207

        ec_datagram_clear(&master->fsm_datagram);

   208

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

   209

        goto out_clear_backup;

   210

    }

   211

   212

    // create state machine object

   213

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

   214

   215

    // init reference sync datagram

   216

    ec_datagram_init(&master->ref_sync_datagram);

   217

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

   218

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

   219

    if (ret < 0) {

   220

        ec_datagram_clear(&master->ref_sync_datagram);

   221

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

   222

        goto out_clear_fsm;

   223

    }

   224

   225

    // init sync datagram

   226

    ec_datagram_init(&master->sync_datagram);

   227

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

   228

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

   229

    if (ret < 0) {

   230

        ec_datagram_clear(&master->sync_datagram);

   231

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

   232

        goto out_clear_ref_sync;

   233

    }

   234

   235

    // init sync monitor datagram

   236

    ec_datagram_init(&master->sync_mon_datagram);

   237

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

   238

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

   239

    if (ret < 0) {

   240

        ec_datagram_clear(&master->sync_mon_datagram);

   241

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

   242

        goto out_clear_sync;

   243

    }

   244

   245

    ec_master_find_dc_ref_clock(master);

   246

   247

    // init character device

   248

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

   249

    if (ret)

   250

        goto out_clear_sync_mon;

   251

   252

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

   253

    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);

   256

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

   257

    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);

   260

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

   261

    master->class_device = class_device_create(class, NULL,

   262

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

   263

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

   264

#else

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    master->class_device = class_device_create(class,

   266

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

   267

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

   268

#endif

   269

    if (IS_ERR(master->class_device)) {

   270

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

   271

        ret = PTR_ERR(master->class_device);

   272

        goto out_clear_cdev;

   273

    }

   274

   275

    return 0;

   276

   277

out_clear_cdev:

   278

    ec_cdev_clear(&master->cdev);

   279

out_clear_sync_mon:

   280

    ec_datagram_clear(&master->sync_mon_datagram);

   281

out_clear_sync:

   282

    ec_datagram_clear(&master->sync_datagram);

   283

out_clear_ref_sync:

   284

    ec_datagram_clear(&master->ref_sync_datagram);

   285

out_clear_fsm:

   286

    ec_fsm_master_clear(&master->fsm);

   287

    ec_datagram_clear(&master->fsm_datagram);

   288

out_clear_backup:

   289

    ec_device_clear(&master->backup_device);

   290

out_clear_main:

   291

    ec_device_clear(&master->main_device);

   292

out_return:

   293

    return ret;

   294

}

   295

   296

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

   297

   298

/** Destructor.

   299

*/

   300

void ec_master_clear(

   301

        ec_master_t *master /**< EtherCAT master */

   302

        )

   303

{

   304

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

   305

    device_unregister(master->class_device);

   306

#else

   307

    class_device_unregister(master->class_device);

   308

#endif

   309

   310

    ec_cdev_clear(&master->cdev);

   311

   312

#ifdef EC_EOE

   313

    ec_master_clear_eoe_handlers(master);

   314

#endif

   315

    ec_master_clear_domains(master);

   316

    ec_master_clear_slave_configs(master);

   317

    ec_master_clear_slaves(master);

   318

   319

    ec_datagram_clear(&master->sync_mon_datagram);

   320

    ec_datagram_clear(&master->sync_datagram);

   321

    ec_datagram_clear(&master->ref_sync_datagram);

   322

    ec_fsm_master_clear(&master->fsm);

   323

    ec_datagram_clear(&master->fsm_datagram);

   324

    ec_device_clear(&master->backup_device);

   325

    ec_device_clear(&master->main_device);

   326

}

   327

   328

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

   329

   330

#ifdef EC_EOE

   331

/** Clear and free all EoE handlers.

   332

 */

   333

void ec_master_clear_eoe_handlers(

   334

        ec_master_t *master /**< EtherCAT master */

   335

        )

   336

{

   337

    ec_eoe_t *eoe, *next;

   338

   339

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

   340

        list_del(&eoe->list);

   341

        ec_eoe_clear(eoe);

   342

        kfree(eoe);

   343

    }

   344

}

   345

#endif

   346

   347

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

   348

   349

/** Clear all slave configurations.

   350

 */

   351

void ec_master_clear_slave_configs(ec_master_t *master)

   352

{

   353

    ec_slave_config_t *sc, *next;

   354

   355

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

   356

        list_del(&sc->list);

   357

        ec_slave_config_clear(sc);

   358

        kfree(sc);

   359

    }

   360

}

   361

   362

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

   363

   364

/** Clear all slaves.

   365

 */

   366

void ec_master_clear_slaves(ec_master_t *master)

   367

{

   368

    ec_slave_t *slave;

   369

   370

    master->dc_ref_clock = NULL;

   371

   372

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

   373

    // them from the list

   374

    //

   375

	// SII requests

   376

	while (1) {

   377

		ec_sii_write_request_t *request;

   378

		if (list_empty(&master->sii_requests))

   379

			break;

   380

		// get first request

   381

        request = list_entry(master->sii_requests.next,

   382

                ec_sii_write_request_t, list);

   383

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

   384

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

   385

				request->slave->ring_position);

   386

		request->state = EC_INT_REQUEST_FAILURE;

   387

		wake_up(&master->sii_queue);

   388

	}

   389

   390

	// Register requests

   391

	while (1) {

   392

	    ec_reg_request_t *request;

   393

		if (list_empty(&master->reg_requests))

   394

			break;

   395

		// get first request

   396

		request = list_entry(master->reg_requests.next,

   397

				ec_reg_request_t, list);

   398

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

   399

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

   400

				request->slave->ring_position);

   401

		request->state = EC_INT_REQUEST_FAILURE;

   402

		wake_up(&master->reg_queue);

   403

	}

   404

   405

	// FoE requests

   406

	while (1) {

   407

		ec_master_foe_request_t *request;

   408

		if (list_empty(&master->foe_requests))

   409

			break;

   410

		// get first request

   411

		request = list_entry(master->foe_requests.next,

   412

				ec_master_foe_request_t, list);

   413

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

   414

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

   415

				request->slave->ring_position);

   416

		request->req.state = EC_INT_REQUEST_FAILURE;

   417

		wake_up(&master->foe_queue);

   418

	}

   419

   420

    for (slave = master->slaves;

   421

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

   422

            slave++) {

   437

        ec_slave_clear(slave);

   438

    }

   439

   440

    if (master->slaves) {

   441

        kfree(master->slaves);

   442

        master->slaves = NULL;

   443

    }

   444

   445

    master->slave_count = 0;

   446

}

   447

   448

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

   449

   450

/** Clear all domains.

   451

 */

   452

void ec_master_clear_domains(ec_master_t *master)

   453

{

   454

    ec_domain_t *domain, *next;

   455

   456

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

   457

        list_del(&domain->list);

   458

        ec_domain_clear(domain);

   459

        kfree(domain);

   460

    }

   461

}

   462

   463

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

   464

   465

/** Internal sending callback.

   466

 */

   467

void ec_master_internal_send_cb(

   468

        void *cb_data /**< Callback data. */

   469

        )

   470

{

   471

    ec_master_t *master = (ec_master_t *) cb_data;

   472

    down(&master->io_sem);

   473

    ecrt_master_send_ext(master);

   474

    up(&master->io_sem);

   475

}

   476

   477

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

   478

   479

/** Internal receiving callback.

   480

 */

   481

void ec_master_internal_receive_cb(

   482

        void *cb_data /**< Callback data. */

   483

        )