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

 *

    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

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

   109

        )

   110

{

   111

    int ret;

   112

   113

    master->index = index;

   114

    master->reserved = 0;

   115

   116

    init_MUTEX(&master->master_sem);

   117

   118

    master->main_mac = main_mac;

   119

    master->backup_mac = backup_mac;

   120

    init_MUTEX(&master->device_sem);

   121

   122

    master->phase = EC_ORPHANED;

   123

    master->injection_seq_fsm = 0;

   124

    master->injection_seq_rt = 0;

   125

   126

    master->slaves = NULL;

   127

    master->slave_count = 0;

   128

   129

    INIT_LIST_HEAD(&master->configs);

   130

   131

	master->app_time = 0ULL;

   132

   133

    master->scan_busy = 0;

   134

    master->allow_scan = 1;

   135

    init_MUTEX(&master->scan_sem);

   136

    init_waitqueue_head(&master->scan_queue);

   137

   138

    master->config_busy = 0;

   139

    master->allow_config = 1;

   140

    init_MUTEX(&master->config_sem);

   141

    init_waitqueue_head(&master->config_queue);

   142

   143

    INIT_LIST_HEAD(&master->datagram_queue);

   144

    master->datagram_index = 0;

   145

   146

    INIT_LIST_HEAD(&master->domains);

   147

   148

    master->debug_level = debug_level;

   149

    master->stats.timeouts = 0;

   150

    master->stats.corrupted = 0;

   151

    master->stats.unmatched = 0;

   152

    master->stats.output_jiffies = 0;

   153

    master->frames_timed_out = 0;

   154

   155

    master->thread = NULL;

   156

   157

#ifdef EC_EOE

   158

    init_timer(&master->eoe_timer);

   159

    master->eoe_timer.function = ec_master_eoe_run;

   160

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

   161

    master->eoe_running = 0;

   162

    INIT_LIST_HEAD(&master->eoe_handlers);

   163

#endif

   164

   165

    master->internal_lock = SPIN_LOCK_UNLOCKED;

   166

    master->request_cb = NULL;

   167

    master->release_cb = NULL;

   168

    master->cb_data = NULL;

   169

   170

    INIT_LIST_HEAD(&master->sii_requests);

   171

    init_waitqueue_head(&master->sii_queue);

   172

   173

    INIT_LIST_HEAD(&master->slave_sdo_requests);

   174

    init_waitqueue_head(&master->sdo_queue);

   175

   176

    INIT_LIST_HEAD(&master->reg_requests);

   177

    init_waitqueue_head(&master->reg_queue);

   178

   179

    INIT_LIST_HEAD(&master->foe_requests);

   180

    init_waitqueue_head(&master->foe_queue);

   181

   182

    // init devices

   183

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

   184

    if (ret < 0)

   185

        goto out_return;

   186

   187

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

   188

    if (ret < 0)

   189

        goto out_clear_main;

   190

   191

    // init state machine datagram

   192

    ec_datagram_init(&master->fsm_datagram);

   193

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

   194

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

   195

    if (ret < 0) {

   196

        ec_datagram_clear(&master->fsm_datagram);

   197

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

   198

        goto out_clear_backup;

   199

    }

   200

   201

    // create state machine object

   202

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

   203

   204

    // init reference sync datagram

   205

    ec_datagram_init(&master->ref_sync_datagram);

   206

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

   207

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

   208

    if (ret < 0) {

   209

        ec_datagram_clear(&master->ref_sync_datagram);

   210

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

   211

        goto out_clear_fsm;

   212

    }

   213

   214

    // init sync datagram

   215

    ec_datagram_init(&master->sync_datagram);

   216

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

   217

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

   218

    if (ret < 0) {

   219

        ec_datagram_clear(&master->sync_datagram);

   220

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

   221

        goto out_clear_ref_sync;

   222

    }

   223

	ec_master_find_dc_ref_clock(master);

   224

   225

    // init character device

   226

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

   227

    if (ret)

   228

        goto out_clear_sync;

   229

   230

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

   231

    master->class_device = device_create(class, NULL,

   232

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

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

   234

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

   235

    master->class_device = device_create(class, NULL,

   236

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

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

   238

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

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    master->class_device = class_device_create(class, NULL,

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

   241

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

   242

#else

   243

    master->class_device = class_device_create(class,

   244

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

   245

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

   246

#endif

   247

    if (IS_ERR(master->class_device)) {

   248

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

   249

        ret = PTR_ERR(master->class_device);

   250

        goto out_clear_cdev;

   251

    }

   252

   253

    return 0;

   254

   255

out_clear_cdev:

   256

    ec_cdev_clear(&master->cdev);

   257

out_clear_sync:

   258

    ec_datagram_clear(&master->sync_datagram);

   259

out_clear_ref_sync:

   260

    ec_datagram_clear(&master->ref_sync_datagram);

   261

out_clear_fsm:

   262

    ec_fsm_master_clear(&master->fsm);

   263

    ec_datagram_clear(&master->fsm_datagram);

   264

out_clear_backup:

   265

    ec_device_clear(&master->backup_device);

   266

out_clear_main:

   267

    ec_device_clear(&master->main_device);

   268

out_return:

   269

    return ret;

   270

}

   271

   272

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

   273

   274

/** Destructor.

   275

*/

   276

void ec_master_clear(

   277

        ec_master_t *master /**< EtherCAT master */

   278

        )

   279

{

   280

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

   281

    device_unregister(master->class_device);

   282

#else

   283

    class_device_unregister(master->class_device);

   284

#endif

   285

   286

    ec_cdev_clear(&master->cdev);

   287

   288

#ifdef EC_EOE

   289

    ec_master_clear_eoe_handlers(master);

   290

#endif

   291

    ec_master_clear_domains(master);

   292

    ec_master_clear_slave_configs(master);

   293

    ec_master_clear_slaves(master);

   294

   295

    ec_datagram_clear(&master->sync_datagram);

   296

    ec_datagram_clear(&master->ref_sync_datagram);

   297

    ec_fsm_master_clear(&master->fsm);

   298

    ec_datagram_clear(&master->fsm_datagram);

   299

    ec_device_clear(&master->backup_device);

   300

    ec_device_clear(&master->main_device);

   301

}

   302

   303

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

   304

   305

#ifdef EC_EOE

   306

/** Clear and free all EoE handlers.

   307

 */

   308

void ec_master_clear_eoe_handlers(

   309

        ec_master_t *master /**< EtherCAT master */

   310

        )

   311

{

   312

    ec_eoe_t *eoe, *next;

   313

   314

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

   315

        list_del(&eoe->list);

   316

        ec_eoe_clear(eoe);

   317

        kfree(eoe);

   318

    }

   319

}

   320

#endif

   321

   322

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

   323

   324

/** Clear all slave configurations.

   325

 */

   326

void ec_master_clear_slave_configs(ec_master_t *master)

   327

{

   328

    ec_slave_config_t *sc, *next;

   329

   330

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

   331

        list_del(&sc->list);

   332

        ec_slave_config_clear(sc);

   333

        kfree(sc);

   334

    }

   335

}

   336

   337

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

   338

   339

/** Clear all slaves.

   340

 */

   341

void ec_master_clear_slaves(ec_master_t *master)

   342

{

   343

    ec_slave_t *slave;

   344

   345

    for (slave = master->slaves;

   346

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

   347

            slave++) {

   348

        ec_slave_clear(slave);

   349

    }

   350

   351

    if (master->slaves) {

   352

        kfree(master->slaves);

   353

        master->slaves = NULL;

   354

    }

   355

   356

    master->slave_count = 0;

   357

}

   358

   359

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

   360

   361

/** Clear all domains.

   362

 */

   363

void ec_master_clear_domains(ec_master_t *master)

   364

{

   365

    ec_domain_t *domain, *next;

   366

   367

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

   368

        list_del(&domain->list);

   369

        ec_domain_clear(domain);

   370

        kfree(domain);

   371

    }

   372

}

   373

   374

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

   375

   376

/** Internal locking callback.

   377

 */

   378

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

   379

{

   380

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

   381

    return 0;

   382

}

   383

   384

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

   385

   386

/** Internal unlocking callback.

   387

 */

   388

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

   389

{

   390

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

   391

}

   392

   393

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

   394

   395

/** Starts the master thread.

   396

 *

   397

 * \retval  0 Success.

   398

 * \retval <0 Error code.

   399

 */

   400

int ec_master_thread_start(

   401

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

   402

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

   403

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

   404

        )

   405

{

   406

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

   407

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

   408

    if (IS_ERR(master->thread)) {

   409

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

   410

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

   411

        master->thread = NULL;

   412

        return err;

   413

    }

   414

   415

    return 0;

   416

}

   417

   418

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

   419

   420

/** Stops the master thread.

   421

 */

   422

void ec_master_thread_stop(

   423

        ec_master_t *master /**< EtherCAT master */

   424

        )

   425

{

   426

    unsigned long sleep_jiffies;

   427

   428

    if (!master->thread) {

   429

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

   430

        return;

   431

    }

   432

   433

    if (master->debug_level)

   434

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

   435

   436

    kthread_stop(master->thread);

   437

    master->thread = NULL;

   438

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

   439

   440

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

   441

        return;

   442

   443

    // wait for FSM datagram

   444

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

   445

    schedule_timeout(sleep_jiffies);

   446

}

   447

   448

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

   449

   450

/** Transition function from ORPHANED to IDLE phase.

   451

 */

   452

int ec_master_enter_idle_phase(

   453

        ec_master_t *master /**< EtherCAT master */

   454

        )

   455

{

   456

    int ret;

   457

   458

    if (master->debug_level)

   459

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

   460

   461

    master->request_cb = ec_master_request_cb;

   462

    master->release_cb = ec_master_release_cb;

   463

    master->cb_data = master;

   464

   465

    master->phase = EC_IDLE;

   466

    ret = ec_master_thread_start(master, ec_master_idle_thread,

   467

            "EtherCAT-IDLE");

   468

    if (ret)

   469

        master->phase = EC_ORPHANED;

   470

   471

    return ret;

   472

}

   473

   474

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

   475

   476

/** Transition function from IDLE to ORPHANED phase.

   477

 */

   478

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

   479

{

   480

    if (master->debug_level)

   481

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

   482

   483