1

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

     2

 *

     3

 *  $Id$

     4

 *

     5

 *  Copyright (C) 2006  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

    10

 *  and/or modify it under the terms of the GNU General Public License

    11

 *  as published by the Free Software Foundation; either version 2 of the

    12

 *  License, or (at your option) any later version.

    13

 *

    14

 *  The IgH EtherCAT Master is distributed in the hope that it will be

    15

 *  useful, but WITHOUT ANY WARRANTY; without even the implied warranty of

    16

 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

    17

 *  GNU General Public License for more details.

    18

 *

    19

 *  You should have received a copy of the GNU General Public License

    20

 *  along with the IgH EtherCAT Master; if not, write to the Free Software

    21

 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA

    22

 *

    23

 *  The right to use EtherCAT Technology is granted and comes free of

    24

 *  charge under condition of compatibility of product made by

    25

 *  Licensee. People intending to distribute/sell products based on the

    26

 *  code, have to sign an agreement to guarantee that products using

    27

 *  software based on IgH EtherCAT master stay compatible with the actual

    28

 *  EtherCAT specification (which are released themselves as an open

    29

 *  standard) as the (only) precondition to have the right to use EtherCAT

    30

 *  Technology, IP and trade marks.

    31

 *

    32

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

    33

    34

/**

    35

   \file

    36

   EtherCAT master methods.

    37

*/

    38

    39

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

    40

    41

#include <linux/module.h>

    42

#include <linux/kernel.h>

    43

#include <linux/string.h>

    44

#include <linux/slab.h>

    45

#include <linux/delay.h>

    46

    47

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

    48

#include "globals.h"

    49

#include "master.h"

    50

#include "slave.h"

    51

#include "types.h"

    52

#include "device.h"

    53

#include "datagram.h"

    54

#include "ethernet.h"

    55

    56

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

    57

    58

void ec_master_freerun(void *);

    59

void ec_master_eoe_run(unsigned long);

    60

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

    61

ssize_t ec_store_master_attribute(struct kobject *, struct attribute *,

    62

                                  const char *, size_t);

    63

    64

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

    65

    66

/** \cond */

    67

    68

EC_SYSFS_READ_ATTR(slave_count);

    69

EC_SYSFS_READ_ATTR(mode);

    70

EC_SYSFS_READ_WRITE_ATTR(eeprom_write_enable);

    71

    72

static struct attribute *ec_def_attrs[] = {

    73

    &attr_slave_count,

    74

    &attr_mode,

    75

    &attr_eeprom_write_enable,

    76

    NULL,

    77

};

    78

    79

static struct sysfs_ops ec_sysfs_ops = {

    80

    .show = &ec_show_master_attribute,

    81

    .store = ec_store_master_attribute

    82

};

    83

    84

static struct kobj_type ktype_ec_master = {

    85

    .release = ec_master_clear,

    86

    .sysfs_ops = &ec_sysfs_ops,

    87

    .default_attrs = ec_def_attrs

    88

};

    89

    90

/** \endcond */

    91

    92

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

    93

    94

/**

    95

   Master constructor.

    96

   \return 0 in case of success, else < 0

    97

*/

    98

    99

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

   100

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

   101

                   unsigned int eoe_devices /**< number of EoE devices */

   102

                   )

   103

{

   104

    ec_eoe_t *eoe, *next_eoe;

   105

    unsigned int i;

   106

   107

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

   108

   109

    master->index = index;

   110

    master->device = NULL;

   111

    master->reserved = 0;

   112

    INIT_LIST_HEAD(&master->slaves);

   113

    INIT_LIST_HEAD(&master->datagram_queue);

   114

    INIT_LIST_HEAD(&master->domains);

   115

    INIT_LIST_HEAD(&master->eoe_handlers);

   116

    ec_datagram_init(&master->simple_datagram);

   117

    INIT_WORK(&master->freerun_work, ec_master_freerun, (void *) master);

   118

    init_timer(&master->eoe_timer);

   119

    master->eoe_timer.function = ec_master_eoe_run;

   120

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

   121

    master->internal_lock = SPIN_LOCK_UNLOCKED;

   122

    master->eoe_running = 0;

   123

   124

    // create workqueue

   125

    if (!(master->workqueue = create_singlethread_workqueue("EtherCAT"))) {

   126

        EC_ERR("Failed to create master workqueue.\n");

   127

        goto out_return;

   128

    }

   129

   130

    // create EoE handlers

   131

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

   132

        if (!(eoe = (ec_eoe_t *) kmalloc(sizeof(ec_eoe_t), GFP_KERNEL))) {

   133

            EC_ERR("Failed to allocate EoE-Object.\n");

   134

            goto out_clear_eoe;

   135

        }

   136

        if (ec_eoe_init(eoe)) {

   137

            kfree(eoe);

   138

            goto out_clear_eoe;

   139

        }

   140

        list_add_tail(&eoe->list, &master->eoe_handlers);

   141

    }

   142

   143

    // create state machine object

   144

    if (ec_fsm_init(&master->fsm, master)) goto out_clear_eoe;

   145

   146

    // init kobject and add it to the hierarchy

   147

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

   148

    kobject_init(&master->kobj);

   149

    master->kobj.ktype = &ktype_ec_master;

   150

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

   151

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

   152

        kobject_put(&master->kobj);

   153

        return -1;

   154

    }

   155

   156

    ec_master_reset(master);

   157

    return 0;

   158

   159

 out_clear_eoe:

   160

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

   161

        list_del(&eoe->list);

   162

        ec_eoe_clear(eoe);

   163

        kfree(eoe);

   164

    }

   165

    destroy_workqueue(master->workqueue);

   166

 out_return:

   167

    return -1;

   168

}

   169

   170

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

   171

   172

/**

   173

   Master destructor.

   174

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

   175

   and frees the device.

   176

*/

   177

   178

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

   179

{

   180

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

   181

    ec_eoe_t *eoe, *next_eoe;

   182

   183

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

   184

   185

    ec_master_reset(master);

   186

    ec_fsm_clear(&master->fsm);

   187

    ec_datagram_clear(&master->simple_datagram);

   188

    destroy_workqueue(master->workqueue);

   189

   190

    // clear EoE objects

   191

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

   192

        list_del(&eoe->list);

   193

        ec_eoe_clear(eoe);

   194

        kfree(eoe);

   195

    }

   196

   197

    if (master->device) {

   198

        ec_device_clear(master->device);

   199

        kfree(master->device);

   200

    }

   201

   202

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

   203

}

   204

   205

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

   206

   207

/**

   208

   Resets the master.

   209

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

   210

   called, to free the slave list, domains etc.

   211

*/

   212

   213

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

   214

{

   215

    ec_datagram_t *datagram, *next_c;

   216

    ec_domain_t *domain, *next_d;

   217

   218

    ec_master_eoe_stop(master);

   219

    ec_master_freerun_stop(master);

   220

    ec_master_clear_slaves(master);

   221

   222

    // empty datagram queue

   223

    list_for_each_entry_safe(datagram, next_c,

   224

                             &master->datagram_queue, queue) {

   225

        list_del_init(&datagram->queue);

   226

        datagram->state = EC_CMD_ERROR;

   227

    }

   228

   229

    // clear domains

   230

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

   231

        list_del(&domain->list);

   232

        kobject_del(&domain->kobj);

   233

        kobject_put(&domain->kobj);

   234

    }

   235

   236

    master->datagram_index = 0;

   237

    master->debug_level = 0;

   238

    master->timeout = 500; // 500us

   239

   240

    master->stats.timeouts = 0;

   241

    master->stats.delayed = 0;

   242

    master->stats.corrupted = 0;

   243

    master->stats.unmatched = 0;

   244

    master->stats.t_last = 0;

   245

   246

    master->mode = EC_MASTER_MODE_IDLE;

   247

   248

    master->request_cb = NULL;

   249

    master->release_cb = NULL;

   250

    master->cb_data = NULL;

   251

   252

    master->eeprom_write_enable = 0;

   253

   254

    ec_fsm_reset(&master->fsm);

   255

}

   256

   257

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

   258

   259

/**

   260

   Clears all slaves.

   261

*/

   262

   263

void ec_master_clear_slaves(ec_master_t *master)

   264

{

   265

    ec_slave_t *slave, *next_slave;

   266

   267

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

   268

        list_del(&slave->list);

   269

        kobject_del(&slave->kobj);

   270

        kobject_put(&slave->kobj);

   271

    }

   272

    master->slave_count = 0;

   273

}

   274

   275

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

   276

   277

/**

   278

   Places a datagram in the datagram queue.

   279

*/

   280

   281

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

   282

                              ec_datagram_t *datagram /**< datagram */

   283

                              )

   284

{

   285

    ec_datagram_t *queued_datagram;

   286

   287

    // check, if the datagram is already queued

   288

    list_for_each_entry(queued_datagram, &master->datagram_queue, queue) {

   289

        if (queued_datagram == datagram) {

   290

            datagram->state = EC_CMD_QUEUED;

   291

            if (unlikely(master->debug_level))

   292

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

   293

            return;

   294

        }

   295

    }

   296

   297

    list_add_tail(&datagram->queue, &master->datagram_queue);

   298

    datagram->state = EC_CMD_QUEUED;

   299

}

   300

   301

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

   302

   303

/**

   304

   Sends the datagrams in the queue.

   305

   \return 0 in case of success, else < 0

   306

*/

   307

   308

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

   309

{

   310

    ec_datagram_t *datagram;

   311

    size_t datagram_size;

   312

    uint8_t *frame_data, *cur_data;

   313

    void *follows_word;

   314

    cycles_t t_start, t_end;

   315

    unsigned int frame_count, more_datagrams_waiting;

   316

   317

    frame_count = 0;

   318

    t_start = get_cycles();

   319

   320

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

   321

        EC_DBG("ec_master_send_datagrams\n");

   322

   323

    do {

   324

        // fetch pointer to transmit socket buffer

   325

        frame_data = ec_device_tx_data(master->device);

   326

        cur_data = frame_data + EC_FRAME_HEADER_SIZE;

   327

        follows_word = NULL;

   328

        more_datagrams_waiting = 0;

   329

   330

        // fill current frame with datagrams

   331

        list_for_each_entry(datagram, &master->datagram_queue, queue) {

   332

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

   333

   334

            // does the current datagram fit in the frame?

   335

            datagram_size = EC_DATAGRAM_HEADER_SIZE + datagram->data_size

   336

                + EC_DATAGRAM_FOOTER_SIZE;

   337

            if (cur_data - frame_data + datagram_size > ETH_DATA_LEN) {

   338

                more_datagrams_waiting = 1;

   339

                break;

   340

            }

   341

   342

            datagram->state = EC_CMD_SENT;

   343

            datagram->t_sent = t_start;

   344

            datagram->index = master->datagram_index++;

   345

   346

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

   347

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

   348

   349

            // set "datagram following" flag in previous frame

   350

            if (follows_word)

   351

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

   352

   353

            // EtherCAT datagram header

   354

            EC_WRITE_U8 (cur_data,     datagram->type);

   355

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

   356

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

   357

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

   358

            EC_WRITE_U16(cur_data + 8, 0x0000);

   359

            follows_word = cur_data + 6;

   360

            cur_data += EC_DATAGRAM_HEADER_SIZE;

   361

   362

            // EtherCAT datagram data

   363

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

   364

            cur_data += datagram->data_size;

   365

   366

            // EtherCAT datagram footer

   367

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

   368

            cur_data += EC_DATAGRAM_FOOTER_SIZE;

   369

        }

   370

   371

        if (cur_data - frame_data == EC_FRAME_HEADER_SIZE) {

   372

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

   373

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

   374

            break;

   375

        }

   376

   377

        // EtherCAT frame header

   378

        EC_WRITE_U16(frame_data, ((cur_data - frame_data

   379

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

   380

   381

        // pad frame

   382

        while (cur_data - frame_data < ETH_ZLEN - ETH_HLEN)

   383

            EC_WRITE_U8(cur_data++, 0x00);

   384

   385

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

   386

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

   387

   388

        // send frame

   389

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

   390

        frame_count++;

   391

    }

   392

    while (more_datagrams_waiting);

   393

   394

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

   395

        t_end = get_cycles();

   396

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

   397

               frame_count, (unsigned int) (t_end - t_start) * 1000 / cpu_khz);

   398

    }

   399

}

   400

   401

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

   402

   403

/**

   404

   Processes a received frame.

   405

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

   406

   \return 0 in case of success, else < 0

   407

*/

   408

   409

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

   410

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

   411

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

   412

                       )

   413

{

   414

    size_t frame_size, data_size;

   415

    uint8_t datagram_type, datagram_index;

   416

    unsigned int cmd_follows, matched;

   417

    const uint8_t *cur_data;

   418

    ec_datagram_t *datagram;

   419

   420

    if (unlikely(size < EC_FRAME_HEADER_SIZE)) {

   421

        master->stats.corrupted++;

   422

        ec_master_output_stats(master);

   423

        return;

   424

    }

   425

   426

    cur_data = frame_data;

   427

   428

    // check length of entire frame

   429

    frame_size = EC_READ_U16(cur_data) & 0x07FF;

   430

    cur_data += EC_FRAME_HEADER_SIZE;

   431

   432

    if (unlikely(frame_size > size)) {

   433

        master->stats.corrupted++;

   434

        ec_master_output_stats(master);

   435

        return;

   436

    }

   437

   438

    cmd_follows = 1;

   439

    while (cmd_follows) {

   440

        // process datagram header

   441

        datagram_type  = EC_READ_U8 (cur_data);

   442

        datagram_index = EC_READ_U8 (cur_data + 1);

   443

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

   444

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

   445

        cur_data += EC_DATAGRAM_HEADER_SIZE;

   446

   447

        if (unlikely(cur_data - frame_data

   448

                     + data_size + EC_DATAGRAM_FOOTER_SIZE > size)) {

   449

            master->stats.corrupted++;

   450

            ec_master_output_stats(master);

   451

            return;

   452

        }

   453

   454

        // search for matching datagram in the queue

   455

        matched = 0;

   456

        list_for_each_entry(datagram, &master->datagram_queue, queue) {

   457

            if (datagram->state == EC_CMD_SENT

   458

                && datagram->type == datagram_type

   459

                && datagram->index == datagram_index

   460

                && datagram->data_size == data_size) {

   461

                matched = 1;

   462

                break;

   463

            }

   464

        }

   465

   466

        // no matching datagram was found

   467

        if (!matched) {

   468

            master->stats.unmatched++;

   469

            ec_master_output_stats(master);

   470

            cur_data += data_size + EC_DATAGRAM_FOOTER_SIZE;

   471

            continue;

   472

        }

   473

   474

        // copy received data in the datagram memory

   475

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

   476

        cur_data += data_size;

   477

   478

        // set the datagram's working counter

   479

        datagram->working_counter = EC_READ_U16(cur_data);

   480

        cur_data += EC_DATAGRAM_FOOTER_SIZE;

   481

   482

        // dequeue the received datagram

   483

        datagram->state = EC_CMD_RECEIVED;

   484

        list_del_init(&datagram->queue);

   485

    }

   486

}