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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,

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 *  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

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 *  industrial property and similar rights of Beckhoff Automation GmbH.

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 *

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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

 */

    61

#define DEBUG_INJECT 0

    62

    63

#ifdef EC_HAVE_CYCLES

    64

    65

/** Frame timeout in cycles.

    66

 */

    67

static cycles_t timeout_cycles;

    68

    69

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

    70

 */

    71

static cycles_t ext_injection_timeout_cycles;

    72

    73

#else

    74

    75

/** Frame timeout in jiffies.

    76

 */

    77

static unsigned long timeout_jiffies;

    78

    79

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

    80

 */

    81

static unsigned long ext_injection_timeout_jiffies;

    82

    83

#endif

    84

    85

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

    86

 */

    87

const unsigned int rate_intervals[] = {

    88

    1, 10, 60

    89

};

    90

    91

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

    92

    93

void ec_master_clear_slave_configs(ec_master_t *);

    94

void ec_master_clear_domains(ec_master_t *);

    95

static int ec_master_idle_thread(void *);

    96

static int ec_master_operation_thread(void *);

    97

#ifdef EC_EOE

    98

static int ec_master_eoe_thread(void *);

    99

#endif

   100

void ec_master_find_dc_ref_clock(ec_master_t *);

   101

void ec_master_clear_device_stats(ec_master_t *);

   102

void ec_master_update_device_stats(ec_master_t *);

   103

   104

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

   105

   106

/** Static variables initializer.

   107

*/

   108

void ec_master_init_static(void)

   109

{

   110

#ifdef EC_HAVE_CYCLES

   111

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

   112

    ext_injection_timeout_cycles =

   113

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

   114

#else

   115

    // one jiffy may always elapse between time measurement

   116

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

   117

    ext_injection_timeout_jiffies =

   118

        max(EC_SDO_INJECTION_TIMEOUT * HZ / 1000000, 1);

   119

#endif

   120

}

   121

   122

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

   123

   124

/**

   125

   Master constructor.

   126

   \return 0 in case of success, else < 0

   127

*/

   128

   129

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

   130

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

   131

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

   132

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

   133

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

   134

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

   135

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

   136

        )

   137

{

   138

    int ret;

   139

   140

    master->index = index;

   141

    master->reserved = 0;

   142

   143

    sema_init(&master->master_sem, 1);

   144

   145

    master->macs[EC_DEVICE_MAIN] = main_mac;

   146

    master->macs[EC_DEVICE_BACKUP] = backup_mac;

   147

    ec_master_clear_device_stats(master);

   148

   149

    sema_init(&master->device_sem, 1);

   150

   151

    master->phase = EC_ORPHANED;

   152

    master->active = 0;

   153

    master->config_changed = 0;

   154

    master->injection_seq_fsm = 0;

   155

    master->injection_seq_rt = 0;

   156

   157

    master->slaves = NULL;

   158

    master->slave_count = 0;

   159

   160

    INIT_LIST_HEAD(&master->configs);

   161

    INIT_LIST_HEAD(&master->domains);

   162

   163

    master->app_time = 0ULL;

   164

    master->app_start_time = 0ULL;

   165

    master->has_app_time = 0;

   166

   167

    master->scan_busy = 0;

   168

    master->allow_scan = 1;

   169

    sema_init(&master->scan_sem, 1);

   170

    init_waitqueue_head(&master->scan_queue);

   171

   172

    master->config_busy = 0;

   173

    sema_init(&master->config_sem, 1);

   174

    init_waitqueue_head(&master->config_queue);

   175

   176

    INIT_LIST_HEAD(&master->datagram_queue);

   177

    master->datagram_index = 0;

   178

   179

    INIT_LIST_HEAD(&master->ext_datagram_queue);

   180

    sema_init(&master->ext_queue_sem, 1);

   181

   182

    INIT_LIST_HEAD(&master->external_datagram_queue);

   183

   184

    // send interval in IDLE phase

   185

    ec_master_set_send_interval(master, 1000000 / HZ);

   186

   187

    master->debug_level = debug_level;

   188

    master->stats.timeouts = 0;

   189

    master->stats.corrupted = 0;

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    master->stats.unmatched = 0;

   191

    master->stats.output_jiffies = 0;

   192

   193

    master->thread = NULL;

   194

   195

#ifdef EC_EOE

   196

    master->eoe_thread = NULL;

   197

    INIT_LIST_HEAD(&master->eoe_handlers);

   198

#endif

   199

   200

    sema_init(&master->io_sem, 1);

   201

    master->send_cb = NULL;

   202

    master->receive_cb = NULL;

   203

    master->cb_data = NULL;

   204

    master->app_send_cb = NULL;

   205

    master->app_receive_cb = NULL;

   206

    master->app_cb_data = NULL;

   207

   208

    INIT_LIST_HEAD(&master->sii_requests);

   209

    init_waitqueue_head(&master->sii_queue);

   210

   211

    INIT_LIST_HEAD(&master->reg_requests);

   212

    init_waitqueue_head(&master->reg_queue);

   213

   214

    // init devices

   215

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

   216

    if (ret < 0)

   217

        goto out_return;

   218

   219

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

   220

    if (ret < 0)

   221

        goto out_clear_main;

   222

   223

    // init state machine datagram

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    ec_datagram_init(&master->fsm_datagram);

   225

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

   226

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

   227

    if (ret < 0) {

   228

        ec_datagram_clear(&master->fsm_datagram);

   229

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

   230

        goto out_clear_backup;

   231

    }

   232

   233

    // create state machine object

   234

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

   235

   236

    // init reference sync datagram

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    ec_datagram_init(&master->ref_sync_datagram);

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    snprintf(master->ref_sync_datagram.name, EC_DATAGRAM_NAME_SIZE,

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            "refsync");

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

   241

    if (ret < 0) {

   242

        ec_datagram_clear(&master->ref_sync_datagram);

   243

        EC_MASTER_ERR(master, "Failed to allocate reference"

   244

                " synchronisation datagram.\n");

   245

        goto out_clear_fsm;

   246

    }

   247

   248

    // init sync datagram

   249

    ec_datagram_init(&master->sync_datagram);

   250

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

   251

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

   252

    if (ret < 0) {

   253

        ec_datagram_clear(&master->sync_datagram);

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        EC_MASTER_ERR(master, "Failed to allocate"

   255

                " synchronisation datagram.\n");

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        goto out_clear_ref_sync;

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    }

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    // init sync monitor datagram

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    ec_datagram_init(&master->sync_mon_datagram);

   261

    snprintf(master->sync_mon_datagram.name, EC_DATAGRAM_NAME_SIZE,

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            "syncmon");

   263

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

   264

    if (ret < 0) {

   265

        ec_datagram_clear(&master->sync_mon_datagram);

   266

        EC_MASTER_ERR(master, "Failed to allocate sync"

   267

                " monitoring datagram.\n");

   268

        goto out_clear_sync;

   269

    }

   270

   271

    ec_master_find_dc_ref_clock(master);

   272

   273

    // init character device

   274

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

   275

    if (ret)

   276

        goto out_clear_sync_mon;

   277

   278

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

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    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);

   282

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

   283

    master->class_device = device_create(class, NULL,

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

   285

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

   286

#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,

   289

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

   290

#else

   291

    master->class_device = class_device_create(class,

   292

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

   293

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

   294

#endif

   295

    if (IS_ERR(master->class_device)) {

   296

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

   297

        ret = PTR_ERR(master->class_device);

   298

        goto out_clear_cdev;

   299

    }

   300

   301

    return 0;

   302

   303

out_clear_cdev:

   304

    ec_cdev_clear(&master->cdev);

   305

out_clear_sync_mon:

   306

    ec_datagram_clear(&master->sync_mon_datagram);

   307

out_clear_sync:

   308

    ec_datagram_clear(&master->sync_datagram);

   309

out_clear_ref_sync:

   310

    ec_datagram_clear(&master->ref_sync_datagram);

   311

out_clear_fsm:

   312

    ec_fsm_master_clear(&master->fsm);

   313

    ec_datagram_clear(&master->fsm_datagram);

   314

out_clear_backup:

   315

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

   316

out_clear_main:

   317

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

   318

out_return:

   319

    return ret;

   320

}

   321

   322

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

   323

   324

/** Destructor.

   325

*/

   326

void ec_master_clear(

   327

        ec_master_t *master /**< EtherCAT master */

   328

        )

   329

{

   330

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

   331

    device_unregister(master->class_device);

   332

#else

   333

    class_device_unregister(master->class_device);

   334

#endif

   335

   336

    ec_cdev_clear(&master->cdev);

   337

   338

#ifdef EC_EOE

   339

    ec_master_clear_eoe_handlers(master);

   340

#endif

   341

    ec_master_clear_domains(master);

   342

    ec_master_clear_slave_configs(master);

   343

    ec_master_clear_slaves(master);

   344

   345

    ec_datagram_clear(&master->sync_mon_datagram);

   346

    ec_datagram_clear(&master->sync_datagram);

   347

    ec_datagram_clear(&master->ref_sync_datagram);

   348

    ec_fsm_master_clear(&master->fsm);

   349

    ec_datagram_clear(&master->fsm_datagram);

   350

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

   351

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

   352

}

   353

   354

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

   355

   356

#ifdef EC_EOE

   357

/** Clear and free all EoE handlers.

   358

 */

   359

void ec_master_clear_eoe_handlers(

   360

        ec_master_t *master /**< EtherCAT master */

   361

        )

   362

{

   363

    ec_eoe_t *eoe, *next;

   364

   365

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

   366

        list_del(&eoe->list);

   367

        ec_eoe_clear(eoe);

   368

        kfree(eoe);

   369

    }

   370

}

   371

#endif

   372

   373

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

   374

   375

/** Clear all slave configurations.

   376

 */

   377

void ec_master_clear_slave_configs(ec_master_t *master)

   378

{

   379

    ec_slave_config_t *sc, *next;

   380

   381

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

   382

        list_del(&sc->list);

   383

        ec_slave_config_clear(sc);

   384

        kfree(sc);

   385

    }

   386

}

   387

   388

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

   389

   390

/** Clear all slaves.

   391

 */

   392

void ec_master_clear_slaves(ec_master_t *master)

   393

{

   394

    ec_slave_t *slave;

   395

   396

    master->dc_ref_clock = NULL;

   397

   398

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

   399

    // them from the list

   400

   401

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

   402

        ec_sii_write_request_t *request =

   403

            list_entry(master->sii_requests.next,

   404

                    ec_sii_write_request_t, list);

   405

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

   406

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

   407

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

   408

        request->state = EC_INT_REQUEST_FAILURE;

   409

        wake_up(&master->sii_queue);

   410

    }

   411

   412

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

   413

        ec_reg_request_t *request =

   414

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

   415

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

   416

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

   417

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

   418

        request->state = EC_INT_REQUEST_FAILURE;

   419

        wake_up(&master->reg_queue);

   420

    }

   421

   422

    for (slave = master->slaves;

   423

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

   424

            slave++) {

   425

        ec_slave_clear(slave);

   426

    }

   427

   428

    if (master->slaves) {

   429

        kfree(master->slaves);

   430

        master->slaves = NULL;

   431

    }

   432

   433

    master->slave_count = 0;

   434

}

   435

   436

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

   437

   438

/** Clear all domains.

   439

 */

   440

void ec_master_clear_domains(ec_master_t *master)

   441

{

   442

    ec_domain_t *domain, *next;

   443

   444

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

   445

        list_del(&domain->list);

   446

        ec_domain_clear(domain);

   447

        kfree(domain);

   448

    }

   449

}

   450

   451

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

   452

   453

/** Clear the configuration applied by the application.

   454

 */

   455

void ec_master_clear_config(

   456

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

   457

        )

   458

{

   459

    down(&master->master_sem);

   460

    ec_master_clear_domains(master);

   461

    ec_master_clear_slave_configs(master);

   462

    up(&master->master_sem);

   463

}

   464

   465

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

   466

   467

/** Internal sending callback.

   468

 */

   469

void ec_master_internal_send_cb(

   470

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

   471

        )

   472

{

   473

    ec_master_t *master = (ec_master_t *) cb_data;

   474

    down(&master->io_sem);

   475

    ecrt_master_send_ext(master);

   476

    up(&master->io_sem);

   477

}

   478

   479

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

   480

   481

/** Internal receiving callback.