1

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

     2

 *

     3

 *  $Id$

     4

 *

     5

 *  Copyright (C) 2006-2012  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

    11

 *  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

 *  vim: expandtab

    29

 *

    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

    48

#if LINUX_VERSION_CODE >= KERNEL_VERSION(4, 11, 0)

    49

#include <linux/sched/types.h> // struct sched_param

    50

#endif

    51

    52

#include "globals.h"

    53

#include "slave.h"

    54

#include "slave_config.h"

    55

#include "device.h"

    56

#include "datagram.h"

    57

#ifdef EC_EOE

    58

#include "ethernet.h"

    59

#endif

    60

#include "master.h"

    61

    62

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

    63

    64

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

    65

 */

    66

#define DEBUG_INJECT 0

    67

    68

/** Always output corrupted frames.

    69

 */

    70

#define FORCE_OUTPUT_CORRUPTED 0

    71

    72

#ifdef EC_HAVE_CYCLES

    73

    74

/** Frame timeout in cycles.

    75

 */

    76

static cycles_t timeout_cycles;

    77

    78

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

    79

 */

    80

static cycles_t ext_injection_timeout_cycles;

    81

    82

#else

    83

    84

/** Frame timeout in jiffies.

    85

 */

    86

static unsigned long timeout_jiffies;

    87

    88

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

    89

 */

    90

static unsigned long ext_injection_timeout_jiffies;

    91

    92

#endif

    93

    94

/** List of intervals for statistics [s].

    95

 */

    96

const unsigned int rate_intervals[] = {

    97

    1, 10, 60

    98

};

    99

   100

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

   101

   102

void ec_master_clear_slave_configs(ec_master_t *);

   103

void ec_master_clear_domains(ec_master_t *);

   104

static int ec_master_idle_thread(void *);

   105

static int ec_master_operation_thread(void *);

   106

#ifdef EC_EOE

   107

static int ec_master_eoe_thread(void *);

   108

#endif

   109

void ec_master_find_dc_ref_clock(ec_master_t *);

   110

void ec_master_clear_device_stats(ec_master_t *);

   111

void ec_master_update_device_stats(ec_master_t *);

   112

   113

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

   114

   115

/** Static variables initializer.

   116

*/

   117

void ec_master_init_static(void)

   118

{

   119

#ifdef EC_HAVE_CYCLES

   120

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

   121

    ext_injection_timeout_cycles =

   122

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

   123

#else

   124

    // one jiffy may always elapse between time measurement

   125

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

   126

    ext_injection_timeout_jiffies =

   127

        max(EC_SDO_INJECTION_TIMEOUT * HZ / 1000000, 1);

   128

#endif

   129

}

   130

   131

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

   132

   133

/**

   134

   Master constructor.

   135

   \return 0 in case of success, else < 0

   136

*/

   137

   138

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

   139

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

   140

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

   141

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

   142

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

   143

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

   144

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

   145

        )

   146

{

   147

    int ret;

   148

    unsigned int dev_idx, i;

   149

   150

    master->index = index;

   151

    master->reserved = 0;

   152

   153

    sema_init(&master->master_sem, 1);

   154

   155

    for (dev_idx = EC_DEVICE_MAIN; dev_idx < EC_MAX_NUM_DEVICES; dev_idx++) {

   156

        master->macs[dev_idx] = NULL;

   157

    }

   158

   159

    master->macs[EC_DEVICE_MAIN] = main_mac;

   160

   161

#if EC_MAX_NUM_DEVICES > 1

   162

    master->macs[EC_DEVICE_BACKUP] = backup_mac;

   163

    master->num_devices = 1 + !ec_mac_is_zero(backup_mac);

   164

#else

   165

    if (!ec_mac_is_zero(backup_mac)) {

   166

        EC_MASTER_WARN(master, "Ignoring backup MAC address!");

   167

    }

   168

#endif

   169

   170

    ec_master_clear_device_stats(master);

   171

   172

    sema_init(&master->device_sem, 1);

   173

   174

    master->phase = EC_ORPHANED;

   175

    master->active = 0;

   176

    master->config_changed = 0;

   177

    master->injection_seq_fsm = 0;

   178

    master->injection_seq_rt = 0;

   179

   180

    master->slaves = NULL;

   181

    master->slave_count = 0;

   182

   183

    INIT_LIST_HEAD(&master->configs);

   184

    INIT_LIST_HEAD(&master->domains);

   185

   186

    master->app_time = 0ULL;

   187

    master->app_start_time = 0ULL;

   188

    master->has_app_time = 0;

   189

   190

    master->scan_busy = 0;

   191

    master->allow_scan = 1;

   192

    sema_init(&master->scan_sem, 1);

   193

    init_waitqueue_head(&master->scan_queue);

   194

   195

    master->config_busy = 0;

   196

    sema_init(&master->config_sem, 1);

   197

    init_waitqueue_head(&master->config_queue);

   198

   199

    INIT_LIST_HEAD(&master->datagram_queue);

   200

    master->datagram_index = 0;

   201

   202

    INIT_LIST_HEAD(&master->ext_datagram_queue);

   203

    sema_init(&master->ext_queue_sem, 1);

   204

   205

    master->ext_ring_idx_rt = 0;

   206

    master->ext_ring_idx_fsm = 0;

   207

   208

    // init external datagram ring

   209

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

   210

        ec_datagram_t *datagram = &master->ext_datagram_ring[i];

   211

        ec_datagram_init(datagram);

   212

        snprintf(datagram->name, EC_DATAGRAM_NAME_SIZE, "ext-%u", i);

   213

    }

   214

   215

    // send interval in IDLE phase

   216

    ec_master_set_send_interval(master, 1000000 / HZ);

   217

   218

    master->fsm_slave = NULL;

   219

    INIT_LIST_HEAD(&master->fsm_exec_list);

   220

    master->fsm_exec_count = 0U;

   221

   222

    master->debug_level = debug_level;

   223

    master->stats.timeouts = 0;

   224

    master->stats.corrupted = 0;

   225

    master->stats.unmatched = 0;

   226

    master->stats.output_jiffies = 0;

   227

   228

    master->thread = NULL;

   229

   230

#ifdef EC_EOE

   231

    master->eoe_thread = NULL;

   232

    INIT_LIST_HEAD(&master->eoe_handlers);

   233

#endif

   234

   235

    sema_init(&master->io_sem, 1);

   236

    master->send_cb = NULL;

   237

    master->receive_cb = NULL;

   238

    master->cb_data = NULL;

   239

    master->app_send_cb = NULL;

   240

    master->app_receive_cb = NULL;

   241

    master->app_cb_data = NULL;

   242

   243

    INIT_LIST_HEAD(&master->sii_requests);

   244

    INIT_LIST_HEAD(&master->emerg_reg_requests);

   245

   246

    init_waitqueue_head(&master->request_queue);

   247

   248

    // init devices

   249

    for (dev_idx = EC_DEVICE_MAIN; dev_idx < ec_master_num_devices(master);

   250

            dev_idx++) {

   251

        ret = ec_device_init(&master->devices[dev_idx], master);

   252

        if (ret < 0) {

   253

            goto out_clear_devices;

   254

        }

   255

    }

   256

   257

    // init state machine datagram

   258

    ec_datagram_init(&master->fsm_datagram);

   259

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

   260

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

   261

    if (ret < 0) {

   262

        ec_datagram_clear(&master->fsm_datagram);

   263

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

   264

        goto out_clear_devices;

   265

    }

   266

   267

    // create state machine object

   268

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

   269

   270

    // alloc external datagram ring

   271

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

   272

        ec_datagram_t *datagram = &master->ext_datagram_ring[i];

   273

        ret = ec_datagram_prealloc(datagram, EC_MAX_DATA_SIZE);

   274

        if (ret) {

   275

            EC_MASTER_ERR(master, "Failed to allocate external"

   276

                    " datagram %u.\n", i);

   277

            goto out_clear_ext_datagrams;

   278

        }

   279

    }

   280

   281

    // init reference sync datagram

   282

    ec_datagram_init(&master->ref_sync_datagram);

   283

    snprintf(master->ref_sync_datagram.name, EC_DATAGRAM_NAME_SIZE,

   284

            "refsync");

   285

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

   286

    if (ret < 0) {

   287

        ec_datagram_clear(&master->ref_sync_datagram);

   288

        EC_MASTER_ERR(master, "Failed to allocate reference"

   289

                " synchronisation datagram.\n");

   290

        goto out_clear_ext_datagrams;

   291

    }

   292

   293

    // init sync datagram

   294

    ec_datagram_init(&master->sync_datagram);

   295

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

   296

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

   297

    if (ret < 0) {

   298

        ec_datagram_clear(&master->sync_datagram);

   299

        EC_MASTER_ERR(master, "Failed to allocate"

   300

                " synchronisation datagram.\n");

   301

        goto out_clear_ref_sync;

   302

    }

   303

   304

    // init sync monitor datagram

   305

    ec_datagram_init(&master->sync_mon_datagram);

   306

    snprintf(master->sync_mon_datagram.name, EC_DATAGRAM_NAME_SIZE,

   307

            "syncmon");

   308

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

   309

    if (ret < 0) {

   310

        ec_datagram_clear(&master->sync_mon_datagram);

   311

        EC_MASTER_ERR(master, "Failed to allocate sync"

   312

                " monitoring datagram.\n");

   313

        goto out_clear_sync;

   314

    }

   315

   316

    master->dc_ref_config = NULL;

   317

    master->dc_ref_clock = NULL;

   318

   319

    // init character device

   320

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

   321

    if (ret)

   322

        goto out_clear_sync_mon;

   323

   324

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

   325

    master->class_device = device_create(class, NULL,

   326

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

   327

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

   328

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

   329

    master->class_device = device_create(class, NULL,

   330

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

   331

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

   332

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

   333

    master->class_device = class_device_create(class, NULL,

   334

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

   335

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

   336

#else

   337

    master->class_device = class_device_create(class,

   338

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

   339

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

   340

#endif

   341

    if (IS_ERR(master->class_device)) {

   342

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

   343

        ret = PTR_ERR(master->class_device);

   344

        goto out_clear_cdev;

   345

    }

   346

   347

#ifdef EC_RTDM

   348

    // init RTDM device

   349

    ret = ec_rtdm_dev_init(&master->rtdm_dev, master);

   350

    if (ret) {

   351

        goto out_unregister_class_device;

   352

    }

   353

#endif

   354

   355

    return 0;

   356

   357

#ifdef EC_RTDM

   358

out_unregister_class_device:

   359

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

   360

    device_unregister(master->class_device);

   361

#else

   362

    class_device_unregister(master->class_device);

   363

#endif

   364

#endif

   365

out_clear_cdev:

   366

    ec_cdev_clear(&master->cdev);

   367

out_clear_sync_mon:

   368

    ec_datagram_clear(&master->sync_mon_datagram);

   369

out_clear_sync:

   370

    ec_datagram_clear(&master->sync_datagram);

   371

out_clear_ref_sync:

   372

    ec_datagram_clear(&master->ref_sync_datagram);

   373

out_clear_ext_datagrams:

   374

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

   375

        ec_datagram_clear(&master->ext_datagram_ring[i]);

   376

    }

   377

    ec_fsm_master_clear(&master->fsm);

   378

    ec_datagram_clear(&master->fsm_datagram);

   379

out_clear_devices:

   380

    for (; dev_idx > 0; dev_idx--) {

   381

        ec_device_clear(&master->devices[dev_idx - 1]);

   382

    }

   383

    return ret;

   384

}

   385

   386

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

   387

   388

/** Destructor.

   389

*/

   390

void ec_master_clear(

   391

        ec_master_t *master /**< EtherCAT master */

   392

        )

   393

{

   394

    unsigned int dev_idx, i;

   395

   396

#ifdef EC_RTDM

   397

    ec_rtdm_dev_clear(&master->rtdm_dev);

   398

#endif

   399

   400

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

   401

    device_unregister(master->class_device);

   402

#else

   403

    class_device_unregister(master->class_device);

   404

#endif

   405

   406

    ec_cdev_clear(&master->cdev);

   407

   408

#ifdef EC_EOE

   409

    ec_master_clear_eoe_handlers(master);

   410

#endif

   411

    ec_master_clear_domains(master);

   412

    ec_master_clear_slave_configs(master);

   413

    ec_master_clear_slaves(master);

   414

   415

    ec_datagram_clear(&master->sync_mon_datagram);

   416

    ec_datagram_clear(&master->sync_datagram);

   417

    ec_datagram_clear(&master->ref_sync_datagram);

   418

   419

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

   420

        ec_datagram_clear(&master->ext_datagram_ring[i]);

   421

    }

   422

   423

    ec_fsm_master_clear(&master->fsm);

   424

    ec_datagram_clear(&master->fsm_datagram);

   425

   426

    for (dev_idx = EC_DEVICE_MAIN; dev_idx < ec_master_num_devices(master);

   427

            dev_idx++) {

   428

        ec_device_clear(&master->devices[dev_idx]);

   429

    }

   430

}

   431

   432

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

   433

   434

#ifdef EC_EOE

   435

/** Clear and free all EoE handlers.

   436

 */

   437

void ec_master_clear_eoe_handlers(

   438

        ec_master_t *master /**< EtherCAT master */

   439

        )

   440

{

   441

    ec_eoe_t *eoe, *next;

   442

   443

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

   444

        list_del(&eoe->list);

   445

        ec_eoe_clear(eoe);

   446

        kfree(eoe);

   447

    }

   448

}

   449

#endif

   450

   451

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

   452

   453

/** Clear all slave configurations.

   454

 */

   455

void ec_master_clear_slave_configs(ec_master_t *master)

   456

{

   457

    ec_slave_config_t *sc, *next;

   458

   459

    master->dc_ref_config = NULL;

   460

    master->fsm.sdo_request = NULL; // mark sdo_request as invalid

   461

   462

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

   463

        list_del(&sc->list);

   464

        ec_slave_config_clear(sc);

   465

        kfree(sc);

   466

    }

   467

}

   468

   469

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

   470

   471

/** Clear all slaves.

   472

 */

   473

void ec_master_clear_slaves(ec_master_t *master)

   474

{

   475

    ec_slave_t *slave;

   476

   477

    master->dc_ref_clock = NULL;

   478

   479

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

   480

    // them from the list.

   481

   482

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