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

     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

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 *  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

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 *  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.

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 *

    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 "device.h"

    52

#include "datagram.h"

    53

#include "ethernet.h"

    54

    55

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

    56

    57

void ec_master_clear(struct kobject *);

    58

void ec_master_destroy_domains(ec_master_t *);

    59

void ec_master_sync_io(ec_master_t *);

    60

static int ec_master_thread(void *);

    61

void ec_master_eoe_run(unsigned long);

    62

void ec_master_check_sdo(unsigned long);

    63

int ec_master_measure_bus_time(ec_master_t *);

    64

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

    65

ssize_t ec_store_master_attribute(struct kobject *, struct attribute *,

    66

                                  const char *, size_t);

    67

    68

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

    69

    70

/** \cond */

    71

    72

EC_SYSFS_READ_ATTR(info);

    73

EC_SYSFS_READ_WRITE_ATTR(eeprom_write_enable);

    74

EC_SYSFS_READ_WRITE_ATTR(debug_level);

    75

    76

static struct attribute *ec_def_attrs[] = {

    77

    &attr_info,

    78

    &attr_eeprom_write_enable,

    79

    &attr_debug_level,

    80

    NULL,

    81

};

    82

    83

static struct sysfs_ops ec_sysfs_ops = {

    84

    .show = &ec_show_master_attribute,

    85

    .store = ec_store_master_attribute

    86

};

    87

    88

static struct kobj_type ktype_ec_master = {

    89

    .release = ec_master_clear,

    90

    .sysfs_ops = &ec_sysfs_ops,

    91

    .default_attrs = ec_def_attrs

    92

};

    93

    94

/** \endcond */

    95

    96

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

    97

    98

/**

    99

   Master constructor.

   100

   \return 0 in case of success, else < 0

   101

*/

   102

   103

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

   104

        struct kobject *module_kobj, /**< kobject of the master module */

   105

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

   106

        const ec_device_id_t *main_id, /**< ID of main device */

   107

        const ec_device_id_t *backup_id, /**< ID of main device */

   108

        unsigned int eoeif_count /**< number of EoE interfaces */

   109

        )

   110

{

   111

    ec_eoe_t *eoe, *next_eoe;

   112

    unsigned int i;

   113

   114

    atomic_set(&master->available, 1);

   115

    master->index = index;

   116

   117

    master->device = NULL;

   118

    master->main_device_id = main_id;

   120

    master->backup_device_id = backup_id;

   121

    init_MUTEX(&master->device_sem);

   122

   123

    master->mode = EC_MASTER_MODE_ORPHANED;

   124

   125

    INIT_LIST_HEAD(&master->slaves);

   126

    master->slave_count = 0;

   127

   128

    INIT_LIST_HEAD(&master->datagram_queue);

   129

    master->datagram_index = 0;

   130

   131

    INIT_LIST_HEAD(&master->domains);

   132

    master->debug_level = 0;

   133

   134

    master->stats.timeouts = 0;

   135

    master->stats.corrupted = 0;

   136

    master->stats.skipped = 0;

   137

    master->stats.unmatched = 0;

   138

    master->stats.output_jiffies = 0;

   139

   140

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

   141

        master->idle_cycle_times[i] = 0;

   142

        master->eoe_cycle_times[i] = 0;

   143

    }

   144

    master->idle_cycle_time_pos = 0;

   145

    master->eoe_cycle_time_pos = 0;

   146

   147

    init_timer(&master->eoe_timer);

   148

    master->eoe_timer.function = ec_master_eoe_run;

   149

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

   150

    master->eoe_running = 0;

   151

    master->eoe_checked = 0;

   152

    INIT_LIST_HEAD(&master->eoe_handlers);

   153

   154

    master->internal_lock = SPIN_LOCK_UNLOCKED;

   155

    master->request_cb = NULL;

   156

    master->release_cb = NULL;

   157

    master->cb_data = NULL;

   158

   159

    master->eeprom_write_enable = 0;

   160

   161

    master->sdo_request = NULL;

   162

    master->sdo_seq_user = 0;

   163

    master->sdo_seq_master = 0;

   164

    init_MUTEX(&master->sdo_sem);

   165

    init_timer(&master->sdo_timer);

   166

    master->sdo_timer.function = ec_master_check_sdo;

   167

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

   168

    init_completion(&master->sdo_complete);

   169

   170

    // create EoE handlers

   171

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

   172

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

   173

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

   174

            goto out_clear_eoe;

   175

        }

   176

        if (ec_eoe_init(eoe)) {

   177

            kfree(eoe);

   178

            goto out_clear_eoe;

   179

        }

   180

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

   181

    }

   182

   183

    // init state machine datagram

   184

    ec_datagram_init(&master->fsm_datagram);

   185

    if (ec_datagram_prealloc(&master->fsm_datagram, EC_MAX_DATA_SIZE)) {

   186

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

   187

        goto out_clear_eoe;

   188

    }

   189

   190

    // create state machine object

   191

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

   192

   193

    // init kobject and add it to the hierarchy

   194

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

   195

    kobject_init(&master->kobj);

   196

    master->kobj.ktype = &ktype_ec_master;

   197

    master->kobj.parent = module_kobj;

   198

   199

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

   200

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

   201

        kobject_put(&master->kobj);

   202

        return -1;

   203

    }

   204

   205

    if (kobject_add(&master->kobj)) {

   206

        EC_ERR("Failed to add master kobject.\n");

   207

        kobject_put(&master->kobj);

   208

        return -1;

   209

    }

   210

   211

    return 0;

   212

   213

out_clear_eoe:

   214

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

   215

        list_del(&eoe->list);

   216

        ec_eoe_clear(eoe);

   217

        kfree(eoe);

   218

    }

   219

    return -1;

   220

}

   221

   222

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

   223

   224

/**

   225

   Master destructor.

   226

   Clears the kobj-hierarchy bottom up and frees the master.

   227

*/

   228

   229

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

   230

{

   231

    ec_master_destroy_slaves(master);

   232

    ec_master_destroy_domains(master);

   233

   234

    // destroy self

   235

    kobject_del(&master->kobj);

   236

    kobject_put(&master->kobj); // free master

   237

}

   238

   239

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

   240

   241

/**

   242

   Clear and free master.

   243

   This method is called by the kobject,

   244

   once there are no more references to it.

   245

*/

   246

   247

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

   248

{

   249

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

   250

    ec_eoe_t *eoe, *next_eoe;

   251

    ec_datagram_t *datagram, *next_datagram;

   252

   253

    // dequeue all datagrams

   254

    list_for_each_entry_safe(datagram, next_datagram,

   255

                             &master->datagram_queue, queue) {

   256

        datagram->state = EC_DATAGRAM_ERROR;

   257

        list_del_init(&datagram->queue);

   258

    }

   259

   260

    ec_fsm_master_clear(&master->fsm);

   261

    ec_datagram_clear(&master->fsm_datagram);

   262

   263

    // clear EoE objects

   264

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

   265

        list_del(&eoe->list);

   266

        ec_eoe_clear(eoe);

   267

        kfree(eoe);

   268

    }

   269

   270

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

   271

   272

    kfree(master);

   273

}

   274

   275

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

   276

   277

/**

   278

   Destroy all slaves.

   279

*/

   280

   281

void ec_master_destroy_slaves(ec_master_t *master)

   282

{

   283

    ec_slave_t *slave, *next_slave;

   284

   285

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

   286

        list_del(&slave->list);

   287

        ec_slave_destroy(slave);

   288

    }

   289

   290

    master->slave_count = 0;

   291

}

   292

   293

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

   294

   295

/**

   296

   Destroy all domains.

   297

*/

   298

   299

void ec_master_destroy_domains(ec_master_t *master)

   300

{

   301

    ec_domain_t *domain, *next_d;

   302

   303

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

   304

        list_del(&domain->list);

   305

        ec_domain_destroy(domain);

   306

    }

   307

}

   308

   309

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

   310

   311

/**

   312

   Flushes the SDO request queue.

   313

*/

   314

   315

void ec_master_flush_sdo_requests(ec_master_t *master)

   316

{

   317

    del_timer_sync(&master->sdo_timer);

   318

    complete(&master->sdo_complete);

   319

    master->sdo_request = NULL;

   320

    master->sdo_seq_user = 0;

   321

    master->sdo_seq_master = 0;

   322

}

   323

   324

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

   325

   326

/**

   327

   Internal locking callback.

   328

*/

   329

   330

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

   331

{

   332

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

   333

    return 0;

   334

}

   335

   336

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

   337

   338

/**

   339

   Internal unlocking callback.

   340

*/

   341

   342

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

   343

{

   344

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

   345

}

   346

   347

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

   348

   349

/**

   350

 * Starts the master thread.

   351

*/

   352

   353

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

   354

{

   355

    init_completion(&master->thread_exit);

   356

   357

    EC_INFO("Starting master thread.\n");

   358

    if (!(master->thread_id =

   359

                kernel_thread(ec_master_thread, master, CLONE_KERNEL)))

   360

        return -1;

   361

   362

    return 0;

   363

}

   364

   365

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

   366

   367

/**

   368

 * Stops the master thread.

   369

*/

   370

   371

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

   372

{

   373

    if (master->thread_id) {

   374

        kill_proc(master->thread_id, SIGTERM, 1);

   375

        wait_for_completion(&master->thread_exit);

   376

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

   377

    }    

   378

}

   379

   380

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

   381

   382

/**

   383

 * Transition function from ORPHANED to IDLE mode.

   384

*/

   385

   386

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

   387

{

   388

    master->request_cb = ec_master_request_cb;

   389

    master->release_cb = ec_master_release_cb;

   390

    master->cb_data = master;

   391

   392

    master->mode = EC_MASTER_MODE_IDLE;

   393

    if (ec_master_thread_start(master)) {

   394

        master->mode = EC_MASTER_MODE_ORPHANED;

   395

        return -1;

   396

    }

   397

   398

    return 0;

   399

}

   400

   401

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

   402

   403

/**

   404

 * Transition function from IDLE to ORPHANED mode.

   405

*/

   406

   407

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

   408

{

   409

    master->mode = EC_MASTER_MODE_ORPHANED;

   410

   411

    ec_master_eoe_stop(master);

   412

    ec_master_thread_stop(master);

   413

    ec_master_flush_sdo_requests(master);

   414

}

   415

   416

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

   417

   418

/**

   419

 * Transition function from IDLE to OPERATION mode.

   420

*/

   421

   422

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

   423

{

   424

    ec_slave_t *slave;

   425

   426

    ec_master_eoe_stop(master); // stop EoE timer

   427

    master->eoe_checked = 1; // prevent from starting again by FSM

   428

    ec_master_thread_stop(master);

   429

   430

    master->mode = EC_MASTER_MODE_OPERATION;

   431

   432

    // wait for FSM datagram

   433

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

   434

        while (get_cycles() - master->fsm_datagram.cycles_sent

   435

               < (cycles_t) EC_IO_TIMEOUT /* us */ * (cpu_khz / 1000)) {}

   436

        ecrt_master_receive(master);

   437

    }

   438

   439

    // finish running master FSM

   440

    if (ec_fsm_master_running(&master->fsm)) {

   441

        while (ec_fsm_master_exec(&master->fsm)) {

   442

            ec_master_sync_io(master);

   443

        }

   444

    }

   445

   446

    if (master->debug_level) {

   447

        if (ec_master_measure_bus_time(master)) {

   448

            EC_ERR("Bus time measuring failed!\n");

   449

            goto out_idle;

   450

        }

   451

    }

   452

   453

    // set initial slave states

   454

    list_for_each_entry(slave, &master->slaves, list) {

   455

        if (ec_slave_is_coupler(slave)) {

   456

            ec_slave_request_state(slave, EC_SLAVE_STATE_OP);

   457

        }

   458

        else {

   459

            ec_slave_request_state(slave, EC_SLAVE_STATE_PREOP);

   460

        }

   461

    }

   462

   463

    master->eoe_checked = 0; // allow starting EoE again

   464

   465

    return 0;

   466

   467

 out_idle:

   468

    master->mode = EC_MASTER_MODE_IDLE;

   469

    if (ec_master_thread_start(master)) {

   470

        EC_WARN("Failed to start master thread again!\n");

   471

    }

   472

    return -1;

   473

}

   474

   475

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

   476

   477

/**

   478

 * Transition function from OPERATION to IDLE mode.

   479

*/

   480

   481

void ec_master_leave_operation_mode(ec_master_t *master

   482

                                    /**< EtherCAT master */)

   483

{

   484

    ec_slave_t *slave;

   485

    ec_fsm_master_t *fsm = &master->fsm;

   486

    ec_fsm_slave_t fsm_slave;

   487