1

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

     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,

    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

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

    29

    30

/**

    31

   \file

    32

   EtherCAT master methods.

    33

*/

    34

    35

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

    36

    37

#include <linux/module.h>

    38

#include <linux/kernel.h>

    39

#include <linux/string.h>

    40

#include <linux/slab.h>

    41

#include <linux/delay.h>

    42

#include <linux/device.h>

    43

#include <linux/version.h>

    44

    45

#include "globals.h"

    46

#include "slave.h"

    47

#include "slave_config.h"

    48

#include "device.h"

    49

#include "datagram.h"

    50

#ifdef EC_EOE

    51

#include "ethernet.h"

    52

#endif

    53

#include "master.h"

    54

    55

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

    56

    57

#ifdef EC_HAVE_CYCLES

    58

    59

/** Frame timeout in cycles.

    60

 */

    61

static cycles_t timeout_cycles;

    62

    63

#else

    64

    65

/** Frame timeout in jiffies.

    66

 */

    67

static unsigned long timeout_jiffies;

    68

    69

#endif

    70

    71

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

    72

    73

void ec_master_clear_slave_configs(ec_master_t *);

    74

void ec_master_clear_domains(ec_master_t *);

    75

static int ec_master_idle_thread(void *);

    76

static int ec_master_operation_thread(void *);

    77

#ifdef EC_EOE

    78

static int ec_master_eoe_thread(void *);

    79

#endif

    80

void ec_master_find_dc_ref_clock(ec_master_t *);

    81

    82

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

    83

    84

/** Static variables initializer.

    85

*/

    86

void ec_master_init_static(void)

    87

{

    88

#ifdef EC_HAVE_CYCLES

    89

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

    90

#else

    91

    // one jiffy may always elapse between time measurement

    92

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

    93

#endif

    94

}

    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

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

   105

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

   106

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

   107

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

   108

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

   109

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

   110

        )

   111

{

   112

    int ret;

   113

   114

    master->index = index;

   115

    master->reserved = 0;

   116

   117

    init_MUTEX(&master->master_sem);

   118

   119

    master->main_mac = main_mac;

   120

    master->backup_mac = backup_mac;

   121

    init_MUTEX(&master->device_sem);

   122

   123

    master->phase = EC_ORPHANED;

   124

    master->active = 0;

   125

    master->injection_seq_fsm = 0;

   126

    master->injection_seq_rt = 0;

   127

   128

    master->slaves = NULL;

   129

    master->slave_count = 0;

   130

   131

    INIT_LIST_HEAD(&master->configs);

   132

   133

    master->app_time = 0ULL;

   134

    master->app_start_time = 0ULL;

   135

    master->has_start_time = 0;

   136

   137

    master->scan_busy = 0;

   138

    master->allow_scan = 1;

   139

    init_MUTEX(&master->scan_sem);

   140

    init_waitqueue_head(&master->scan_queue);

   141

   142

    master->config_busy = 0;

   143

    master->allow_config = 1;

   144

    init_MUTEX(&master->config_sem);

   145

    init_waitqueue_head(&master->config_queue);

   146

   147

    INIT_LIST_HEAD(&master->datagram_queue);

   148

    master->datagram_index = 0;

   149

   150

    INIT_LIST_HEAD(&master->ext_datagram_queue);

   151

    init_MUTEX(&master->ext_queue_sem);

   152

   153

    INIT_LIST_HEAD(&master->domains);

   154

   155

    master->debug_level = debug_level;

   156

    master->stats.timeouts = 0;

   157

    master->stats.corrupted = 0;

   158

    master->stats.unmatched = 0;

   159

    master->stats.output_jiffies = 0;

   160

    master->frames_timed_out = 0;

   161

   162

    master->thread = NULL;

   163

   164

#ifdef EC_EOE

   165

    master->eoe_thread = NULL;

   166

    INIT_LIST_HEAD(&master->eoe_handlers);

   167

#endif

   168

   169

    init_MUTEX(&master->io_sem);

   170

    master->send_cb = NULL;

   171

    master->receive_cb = NULL;

   172

    master->cb_data = NULL;

   173

    master->app_send_cb = NULL;

   174

    master->app_receive_cb = NULL;

   175

    master->app_cb_data = NULL;

   176

   177

    INIT_LIST_HEAD(&master->sii_requests);

   178

    init_waitqueue_head(&master->sii_queue);

   179

   180

    INIT_LIST_HEAD(&master->slave_sdo_requests);

   181

    init_waitqueue_head(&master->sdo_queue);

   182

   183

    INIT_LIST_HEAD(&master->reg_requests);

   184

    init_waitqueue_head(&master->reg_queue);

   185

   186

    INIT_LIST_HEAD(&master->foe_requests);

   187

    init_waitqueue_head(&master->foe_queue);

   188

   189

    // init devices

   190

    ret = ec_device_init(&master->main_device, master);

   191

    if (ret < 0)

   192

        goto out_return;

   193

   194

    ret = ec_device_init(&master->backup_device, master);

   195

    if (ret < 0)

   196

        goto out_clear_main;

   197

   198

    // init state machine datagram

   199

    ec_datagram_init(&master->fsm_datagram);

   200

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

   201

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

   202

    if (ret < 0) {

   203

        ec_datagram_clear(&master->fsm_datagram);

   204

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

   205

        goto out_clear_backup;

   206

    }

   207

   208

    // create state machine object

   209

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

   210

   211

    // init reference sync datagram

   212

    ec_datagram_init(&master->ref_sync_datagram);

   213

    snprintf(master->ref_sync_datagram.name, EC_DATAGRAM_NAME_SIZE, "refsync");

   214

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

   215

    if (ret < 0) {

   216

        ec_datagram_clear(&master->ref_sync_datagram);

   217

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

   218

        goto out_clear_fsm;

   219

    }

   220

   221

    // init sync datagram

   222

    ec_datagram_init(&master->sync_datagram);

   223

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

   224

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

   225

    if (ret < 0) {

   226

        ec_datagram_clear(&master->sync_datagram);

   227

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

   228

        goto out_clear_ref_sync;

   229

    }

   230

   231

    // init sync monitor datagram

   232

    ec_datagram_init(&master->sync_mon_datagram);

   233

    snprintf(master->sync_mon_datagram.name, EC_DATAGRAM_NAME_SIZE, "syncmon");

   234

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

   235

    if (ret < 0) {

   236

        ec_datagram_clear(&master->sync_mon_datagram);

   237

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

   238

        goto out_clear_sync;

   239

    }

   240

   241

    ec_master_find_dc_ref_clock(master);

   242

   243

    // init character device

   244

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

   245

    if (ret)

   246

        goto out_clear_sync_mon;

   247

   248

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

   249

    master->class_device = device_create(class, NULL,

   250

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

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

   252

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

   253

    master->class_device = device_create(class, NULL,

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

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

   256

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

   257

    master->class_device = class_device_create(class, NULL,

   258

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

   259

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

   260

#else

   261

    master->class_device = class_device_create(class,

   262

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

   263

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

   264

#endif

   265

    if (IS_ERR(master->class_device)) {

   266

        EC_ERR("Failed to create class device!\n");

   267

        ret = PTR_ERR(master->class_device);

   268

        goto out_clear_cdev;

   269

    }

   270

   271

    return 0;

   272

   273

out_clear_cdev:

   274

    ec_cdev_clear(&master->cdev);

   275

out_clear_sync_mon:

   276

    ec_datagram_clear(&master->sync_mon_datagram);

   277

out_clear_sync:

   278

    ec_datagram_clear(&master->sync_datagram);

   279

out_clear_ref_sync:

   280

    ec_datagram_clear(&master->ref_sync_datagram);

   281

out_clear_fsm:

   282

    ec_fsm_master_clear(&master->fsm);

   283

    ec_datagram_clear(&master->fsm_datagram);

   284

out_clear_backup:

   285

    ec_device_clear(&master->backup_device);

   286

out_clear_main:

   287

    ec_device_clear(&master->main_device);

   288

out_return:

   289

    return ret;

   290

}

   291

   292

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

   293

   294

/** Destructor.

   295

*/

   296

void ec_master_clear(

   297

        ec_master_t *master /**< EtherCAT master */

   298

        )

   299

{

   300

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

   301

    device_unregister(master->class_device);

   302

#else

   303

    class_device_unregister(master->class_device);

   304

#endif

   305

   306

    ec_cdev_clear(&master->cdev);

   307

   308

#ifdef EC_EOE

   309

    ec_master_clear_eoe_handlers(master);

   310

#endif

   311

    ec_master_clear_domains(master);

   312

    ec_master_clear_slave_configs(master);

   313

    ec_master_clear_slaves(master);

   314

   315

    ec_datagram_clear(&master->sync_mon_datagram);

   316

    ec_datagram_clear(&master->sync_datagram);

   317

    ec_datagram_clear(&master->ref_sync_datagram);

   318

    ec_fsm_master_clear(&master->fsm);

   319

    ec_datagram_clear(&master->fsm_datagram);

   320

    ec_device_clear(&master->backup_device);

   321

    ec_device_clear(&master->main_device);

   322

}

   323

   324

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

   325

   326

#ifdef EC_EOE

   327

/** Clear and free all EoE handlers.

   328

 */

   329

void ec_master_clear_eoe_handlers(

   330

        ec_master_t *master /**< EtherCAT master */

   331

        )

   332

{

   333

    ec_eoe_t *eoe, *next;

   334

   335

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

   336

        list_del(&eoe->list);

   337

        ec_eoe_clear(eoe);

   338

        kfree(eoe);

   339

    }

   340

}

   341

#endif

   342

   343

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

   344

   345

/** Clear all slave configurations.

   346

 */

   347

void ec_master_clear_slave_configs(ec_master_t *master)

   348

{

   349

    ec_slave_config_t *sc, *next;

   350

   351

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

   352

        list_del(&sc->list);

   353

        ec_slave_config_clear(sc);

   354

        kfree(sc);

   355

    }

   356

}

   357

   358

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

   359

   360

/** Clear all slaves.

   361

 */

   362

void ec_master_clear_slaves(ec_master_t *master)

   363

{

   364

    ec_slave_t *slave;

   365

   366

    master->dc_ref_clock = NULL;

   367

   368

    for (slave = master->slaves;

   369

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

   370

            slave++) {

   371

        ec_slave_clear(slave);

   372

    }

   373

   374

    if (master->slaves) {

   375

        kfree(master->slaves);

   376

        master->slaves = NULL;

   377

    }

   378

   379

    master->slave_count = 0;

   380

}

   381

   382

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

   383

   384

/** Clear all domains.

   385

 */

   386

void ec_master_clear_domains(ec_master_t *master)

   387

{

   388

    ec_domain_t *domain, *next;

   389

   390

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

   391

        list_del(&domain->list);

   392

        ec_domain_clear(domain);

   393

        kfree(domain);

   394

    }

   395

}

   396

   397

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

   398

   399

/** Internal sending callback.

   400

 */

   401

void ec_master_internal_send_cb(

   402

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

   403

        )

   404

{

   405

    ec_master_t *master = (ec_master_t *) cb_data;

   406

    down(&master->io_sem);

   407

    ecrt_master_send_ext(master);

   408

    up(&master->io_sem);

   409

}

   410

   411

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

   412

   413

/** Internal receiving callback.

   414

 */

   415

void ec_master_internal_receive_cb(

   416

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

   417

        )

   418

{

   419

    ec_master_t *master = (ec_master_t *) cb_data;

   420

    down(&master->io_sem);

   421

    ecrt_master_receive(master);

   422

    up(&master->io_sem);

   423

}

   424

   425

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

   426

   427

/** Starts the master thread.

   428

 *

   429

 * \retval  0 Success.

   430

 * \retval <0 Error code.

   431

 */

   432

int ec_master_thread_start(

   433

        ec_master_t *master, /**< EtherCAT master */

   434

        int (*thread_func)(void *), /**< thread function to start */

   435

        const char *name /**< Thread name. */

   436

        )

   437

{

   438

    EC_INFO("Starting %s thread.\n", name);

   439

    master->thread = kthread_run(thread_func, master, name);

   440

    if (IS_ERR(master->thread)) {

   441

        int err = (int) PTR_ERR(master->thread);

   442

        EC_ERR("Failed to start master thread (error %i)!\n", err);

   443

        master->thread = NULL;

   444

        return err;

   445

    }

   446

   447

    return 0;

   448

}

   449

   450

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

   451

   452

/** Stops the master thread.

   453

 */

   454

void ec_master_thread_stop(

   455

        ec_master_t *master /**< EtherCAT master */

   456

        )

   457

{

   458

    unsigned long sleep_jiffies;

   459

   460

    if (!master->thread) {

   461

        EC_WARN("ec_master_thread_stop(): Already finished!\n");

   462

        return;

   463

    }

   464

   465

    if (master->debug_level)

   466

        EC_DBG("Stopping master thread.\n");

   467

   468

    kthread_stop(master->thread);

   469

    master->thread = NULL;

   470

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

   471

   472

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

   473

        return;

   474

   475

    // wait for FSM datagram

   476

    sleep_jiffies = max(HZ / 100, 1); // 10 ms, at least 1 jiffy

   477

    schedule_timeout(sleep_jiffies);

   478

}

   479

   480

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

   481

   482

/** Transition function from ORPHANED to IDLE phase.