1

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

     2

 *

     3

 *  m a s t e r . c

     4

 *

     5

 *  EtherCAT master methods.

     6

 *

     7

 *  $Id$

     8

 *

     9

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

    10

    11

#include <linux/module.h>

    12

#include <linux/kernel.h>

    13

#include <linux/string.h>

    14

#include <linux/slab.h>

    15

#include <linux/delay.h>

    16

    17

#include "../include/ecrt.h"

    18

#include "globals.h"

    19

#include "master.h"

    20

#include "slave.h"

    21

#include "types.h"

    22

#include "device.h"

    23

#include "command.h"

    24

#include "ethernet.h"

    25

    26

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

    27

    28

void ec_master_freerun(unsigned long);

    29

ssize_t ec_show_master_attribute(struct kobject *, struct attribute *, char *);

    30

void ec_master_process_watch_command(ec_master_t *);

    31

    32

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

    33

    34

EC_SYSFS_READ_ATTR(slave_count);

    35

EC_SYSFS_READ_ATTR(mode);

    36

    37

static struct attribute *ec_def_attrs[] = {

    38

    &attr_slave_count,

    39

    &attr_mode,

    40

    NULL,

    41

};

    42

    43

static struct sysfs_ops ec_sysfs_ops = {

    44

    .show = &ec_show_master_attribute,

    45

    .store = NULL

    46

};

    47

    48

static struct kobj_type ktype_ec_master = {

    49

    .release = ec_master_clear,

    50

    .sysfs_ops = &ec_sysfs_ops,

    51

    .default_attrs = ec_def_attrs

    52

};

    53

    54

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

    55

    56

/**

    57

   Master constructor.

    58

   \return 0 in case of success, else < 0

    59

*/

    60

    61

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

    62

                   unsigned int index /**< master index */

    63

                   )

    64

{

    65

    EC_INFO("Initializing master %i.\n", index);

    66

    67

    master->index = index;

    68

    master->device = NULL;

    69

    master->reserved = 0;

    70

    71

    INIT_LIST_HEAD(&master->slaves);

    72

    INIT_LIST_HEAD(&master->command_queue);

    73

    INIT_LIST_HEAD(&master->domains);

    74

    INIT_LIST_HEAD(&master->eoe_slaves);

    75

    76

    // init kobject and add it to the hierarchy

    77

    memset(&master->kobj, 0x00, sizeof(struct kobject));

    78

    kobject_init(&master->kobj);

    79

    master->kobj.ktype = &ktype_ec_master;

    80

    if (kobject_set_name(&master->kobj, "ethercat%i", index)) {

    81

        EC_ERR("Failed to set kobj name.\n");

    82

        kobject_put(&master->kobj);

    83

        return -1;

    84

    }

    85

    86

    // init freerun timer

    87

    init_timer(&master->freerun_timer);

    88

    master->freerun_timer.function = ec_master_freerun;

    89

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

    90

    91

    ec_command_init(&master->simple_command);

    92

    ec_command_init(&master->watch_command);

    93

    94

    ec_master_reset(master);

    95

    return 0;

    96

}

    97

    98

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

    99

   100

/**

   101

   Master destructor.

   102

   Removes all pending commands, clears the slave list, clears all domains

   103

   and frees the device.

   104

*/

   105

   106

void ec_master_clear(struct kobject *kobj /**< kobject of the master */)

   107

{

   108

    ec_master_t *master = container_of(kobj, ec_master_t, kobj);

   109

   110

    EC_INFO("Clearing master %i...\n", master->index);

   111

   112

    del_timer_sync(&master->freerun_timer);

   113

   114

    ec_master_reset(master);

   115

   116

    if (master->device) {

   117

        ec_device_clear(master->device);

   118

        kfree(master->device);

   119

    }

   120

   121

    ec_command_clear(&master->simple_command);

   122

    ec_command_clear(&master->watch_command);

   123

   124

    EC_INFO("Master %i cleared.\n", master->index);

   125

}

   126

   127

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

   128

   129

/**

   130

   Resets the master.

   131

   Note: This function has to be called, everytime ec_master_release() is

   132

   called, to free the slave list, domains etc.

   133

*/

   134

   135

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

   136

{

   137

    ec_slave_t *slave, *next_s;

   138

    ec_command_t *command, *next_c;

   139

    ec_domain_t *domain, *next_d;

   140

    ec_eoe_t *eoe, *next_eoe;

   141

   142

    ec_master_freerun_stop(master);

   143

   144

    // remove all slaves

   145

    list_for_each_entry_safe(slave, next_s, &master->slaves, list) {

   146

        list_del(&slave->list);

   147

        kobject_del(&slave->kobj);

   148

        kobject_put(&slave->kobj);

   149

    }

   150

    master->slave_count = 0;

   151

   152

    // empty command queue

   153

    list_for_each_entry_safe(command, next_c, &master->command_queue, queue) {

   154

        list_del_init(&command->queue);

   155

        command->state = EC_CMD_ERROR;

   156

    }

   157

   158

    // clear domains

   159

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

   160

        list_del(&domain->list);

   161

        kobject_del(&domain->kobj);

   162

        kobject_put(&domain->kobj);

   163

    }

   164

   165

    // clear EoE objects

   166

    list_for_each_entry_safe(eoe, next_eoe, &master->eoe_slaves, list) {

   167

        list_del(&eoe->list);

   168

        ec_eoe_clear(eoe);

   169

        kfree(eoe);

   170

    }

   171

   172

    master->command_index = 0;

   173

    master->debug_level = 0;

   174

    master->timeout = 500; // 500us

   175

   176

    master->slaves_responding = 0;

   177

    master->slave_states = EC_SLAVE_STATE_UNKNOWN;

   178

   179

    master->stats.timeouts = 0;

   180

    master->stats.delayed = 0;

   181

    master->stats.corrupted = 0;

   182

    master->stats.unmatched = 0;

   183

    master->stats.eoe_errors = 0;

   184

    master->stats.t_last = 0;

   185

   186

    master->mode = EC_MASTER_MODE_IDLE;

   187

}

   188

   189

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

   190

   191

/**

   192

   Places a command in the command queue.

   193

*/

   194

   195

void ec_master_queue_command(ec_master_t *master, /**< EtherCAT master */

   196

                             ec_command_t *command /**< command */

   197

                             )

   198

{

   199

    ec_command_t *queued_command;

   200

   201

    // check, if the command is already queued

   202

    list_for_each_entry(queued_command, &master->command_queue, queue) {

   203

        if (queued_command == command) {

   204

            command->state = EC_CMD_QUEUED;

   205

            if (unlikely(master->debug_level))

   206

                EC_WARN("command already queued.\n");

   207

            return;

   208

        }

   209

    }

   210

   211

    list_add_tail(&command->queue, &master->command_queue);

   212

    command->state = EC_CMD_QUEUED;

   213

}

   214

   215

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

   216

   217

/**

   218

   Sends the commands in the queue.

   219

   \return 0 in case of success, else < 0

   220

*/

   221

   222

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

   223

{

   224

    ec_command_t *command;

   225

    size_t command_size;

   226

    uint8_t *frame_data, *cur_data;

   227

    void *follows_word;

   228

    cycles_t start = 0, end;

   229

    unsigned int frame_count, more_commands_waiting;

   230

   231

    frame_count = 0;

   232

   233

    if (unlikely(master->debug_level > 0)) {

   234

        EC_DBG("ec_master_send_commands\n");

   235

        start = get_cycles();

   236

    }

   237

   238

    do {

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        // fetch pointer to transmit socket buffer

   240

        frame_data = ec_device_tx_data(master->device);

   241

        cur_data = frame_data + EC_FRAME_HEADER_SIZE;

   242

        follows_word = NULL;

   243

        more_commands_waiting = 0;

   244

   245

        // fill current frame with commands

   246

        list_for_each_entry(command, &master->command_queue, queue) {

   247

            if (command->state != EC_CMD_QUEUED) continue;

   248

   249

            // does the current command fit in the frame?

   250

            command_size = EC_COMMAND_HEADER_SIZE + command->data_size

   251

                + EC_COMMAND_FOOTER_SIZE;

   252

            if (cur_data - frame_data + command_size > EC_MAX_FRAME_SIZE) {

   253

                more_commands_waiting = 1;

   254

                break;

   255

            }

   256

   257

            command->state = EC_CMD_SENT;

   258

            command->index = master->command_index++;

   259

   260

            if (unlikely(master->debug_level > 0))

   261

                EC_DBG("adding command 0x%02X\n", command->index);

   262

   263

            // set "command following" flag in previous frame

   264

            if (follows_word)

   265

                EC_WRITE_U16(follows_word, EC_READ_U16(follows_word) | 0x8000);

   266

   267

            // EtherCAT command header

   268

            EC_WRITE_U8 (cur_data,     command->type);

   269

            EC_WRITE_U8 (cur_data + 1, command->index);

   270

            EC_WRITE_U32(cur_data + 2, command->address.logical);

   271

            EC_WRITE_U16(cur_data + 6, command->data_size & 0x7FF);

   272

            EC_WRITE_U16(cur_data + 8, 0x0000);

   273

            follows_word = cur_data + 6;

   274

            cur_data += EC_COMMAND_HEADER_SIZE;

   275

   276

            // EtherCAT command data

   277

            memcpy(cur_data, command->data, command->data_size);

   278

            cur_data += command->data_size;

   279

   280

            // EtherCAT command footer

   281

            EC_WRITE_U16(cur_data, 0x0000); // reset working counter

   282

            cur_data += EC_COMMAND_FOOTER_SIZE;

   283

        }

   284

   285

        if (cur_data - frame_data == EC_FRAME_HEADER_SIZE) {

   286

            if (unlikely(master->debug_level > 0))

   287

                EC_DBG("nothing to send.\n");

   288

            break;

   289

        }

   290

   291

        // EtherCAT frame header

   292

        EC_WRITE_U16(frame_data, ((cur_data - frame_data

   293

                                   - EC_FRAME_HEADER_SIZE) & 0x7FF) | 0x1000);

   294

   295

        // pad frame

   296

        while (cur_data - frame_data < EC_MIN_FRAME_SIZE)

   297

            EC_WRITE_U8(cur_data++, 0x00);

   298

   299

        if (unlikely(master->debug_level > 0))

   300

            EC_DBG("frame size: %i\n", cur_data - frame_data);

   301

   302

        // send frame

   303

        ec_device_send(master->device, cur_data - frame_data);

   304

        frame_count++;

   305

    }

   306

    while (more_commands_waiting);

   307

   308

    if (unlikely(master->debug_level > 0)) {

   309

        end = get_cycles();

   310

        EC_DBG("ec_master_send_commands sent %i frames in %ius.\n",

   311

               frame_count, (u32) (end - start) * 1000 / cpu_khz);

   312

    }

   313

}

   314

   315

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

   316

   317

/**

   318

   Processes a received frame.

   319

   This function is called by the network driver for every received frame.

   320

   \return 0 in case of success, else < 0

   321

*/

   322

   323

void ec_master_receive(ec_master_t *master, /**< EtherCAT master */

   324

                       const uint8_t *frame_data, /**< received data */

   325

                       size_t size /**< size of the received data */

   326

                       )

   327

{

   328

    size_t frame_size, data_size;

   329

    uint8_t command_type, command_index;

   330

    unsigned int cmd_follows, matched;

   331

    const uint8_t *cur_data;

   332

    ec_command_t *command;

   333

   334

    if (unlikely(size < EC_FRAME_HEADER_SIZE)) {

   335

        master->stats.corrupted++;

   336

        ec_master_output_stats(master);

   337

        return;

   338

    }

   339

   340

    cur_data = frame_data;

   341

   342

    // check length of entire frame

   343

    frame_size = EC_READ_U16(cur_data) & 0x07FF;

   344

    cur_data += EC_FRAME_HEADER_SIZE;

   345

   346

    if (unlikely(frame_size > size)) {

   347

        master->stats.corrupted++;

   348

        ec_master_output_stats(master);

   349

        return;

   350

    }

   351

   352

    cmd_follows = 1;

   353

    while (cmd_follows) {

   354

        // process command header

   355

        command_type  = EC_READ_U8 (cur_data);

   356

        command_index = EC_READ_U8 (cur_data + 1);

   357

        data_size     = EC_READ_U16(cur_data + 6) & 0x07FF;

   358

        cmd_follows   = EC_READ_U16(cur_data + 6) & 0x8000;

   359

        cur_data += EC_COMMAND_HEADER_SIZE;

   360

   361

        if (unlikely(cur_data - frame_data

   362

                     + data_size + EC_COMMAND_FOOTER_SIZE > size)) {

   363

            master->stats.corrupted++;

   364

            ec_master_output_stats(master);

   365

            return;

   366

        }

   367

   368

        // search for matching command in the queue

   369

        matched = 0;

   370

        list_for_each_entry(command, &master->command_queue, queue) {

   371

            if (command->state == EC_CMD_SENT

   372

                && command->type == command_type

   373

                && command->index == command_index

   374

                && command->data_size == data_size) {

   375

                matched = 1;

   376

                break;

   377

            }

   378

        }

   379

   380

        // no matching command was found

   381

        if (!matched) {

   382

            master->stats.unmatched++;

   383

            ec_master_output_stats(master);

   384

            cur_data += data_size + EC_COMMAND_FOOTER_SIZE;

   385

            continue;

   386

        }

   387

   388

        // copy received data in the command memory

   389

        memcpy(command->data, cur_data, data_size);

   390

        cur_data += data_size;

   391

   392

        // set the command's working counter

   393

        command->working_counter = EC_READ_U16(cur_data);

   394

        cur_data += EC_COMMAND_FOOTER_SIZE;

   395

   396

        // dequeue the received command

   397

        command->state = EC_CMD_RECEIVED;

   398

        list_del_init(&command->queue);

   399

    }

   400

}

   401

   402

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

   403

   404

/**

   405

   Sends a single command and waits for its reception.

   406

   If the slave doesn't respond, the command is sent again.

   407

   \return 0 in case of success, else < 0

   408

*/

   409

   410

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

   411

                        ec_command_t *command /**< command */

   412

                        )

   413

{

   414

    unsigned int response_tries_left;

   415

   416

    response_tries_left = 10;

   417

   418

    while (1)

   419

    {

   420

        ec_master_queue_command(master, command);

   421

        ecrt_master_sync_io(master);

   422

   423

        if (command->state == EC_CMD_RECEIVED) {

   424

            if (likely(command->working_counter))

   425

                return 0;

   426

        }

   427

        else if (command->state == EC_CMD_TIMEOUT) {

   428

            EC_ERR("Simple-IO TIMEOUT!\n");

   429

            return -1;

   430

        }

   431

        else if (command->state == EC_CMD_ERROR) {

   432

            EC_ERR("Simple-IO command error!\n");

   433

            return -1;

   434

        }

   435

   436

        // no direct response, wait a little bit...

   437

        udelay(100);

   438

   439

        if (unlikely(--response_tries_left)) {

   440

            EC_ERR("No response in simple-IO!\n");

   441

            return -1;

   442

        }

   443

    }

   444

}

   445

   446

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

   447

   448

/**

   449

   Scans the EtherCAT bus for slaves.

   450

   Creates a list of slave structures for further processing.

   451

   \return 0 in case of success, else < 0

   452

*/

   453

   454

int ec_master_bus_scan(ec_master_t *master /**< EtherCAT master */)

   455

{

   456

    ec_slave_t *slave, *next;

   457

    ec_slave_ident_t *ident;

   458

    unsigned int i;

   459

    ec_command_t *command;

   460

    ec_eoe_t *eoe;

   461

    uint16_t coupler_index, coupler_subindex;

   462

    uint16_t reverse_coupler_index, current_coupler_index;

   463

   464

    if (!list_empty(&master->slaves)) {

   465

        EC_ERR("Slave scan already done!\n");

   466

        return -1;

   467

    }

   468

   469

    command = &master->simple_command;

   470

   471

    // determine number of slaves on bus

   472

    if (ec_command_brd(command, 0x0000, 4)) return -1;

   473

    if (unlikely(ec_master_simple_io(master, command))) return -1;

   474

    master->slave_count = command->working_counter;

   475

    EC_INFO("Found %i slaves on bus.\n", master->slave_count);

   476

   477

    if (!master->slave_count) return 0;

   478

   479

    // init slaves

   480

    for (i = 0; i < master->slave_count; i++) {

   481

        if (!(slave = (ec_slave_t *) kmalloc(sizeof(ec_slave_t), GFP_KERNEL))) {

   482

            EC_ERR("Failed to allocate slave %i!\n", i);

   483

            goto out_free;

   484

        }

   485

   486

        if (ec_slave_init(slave, master, i, i + 1)) goto out_free;