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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; version 2 of the License.

    12

 *

    13

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

    14

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

    15

 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

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 *  GNU General Public License for more details.

    17

 *

    18

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

    19

 *  along 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

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 *

    22

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

    23

    24

/**

    25

   \file

    26

   EtherCAT master methods.

    27

*/

    28

    29

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

    30

    31

#include <linux/module.h>

    32

#include <linux/kernel.h>

    33

#include <linux/string.h>

    34

#include <linux/slab.h>

    35

#include <linux/delay.h>

    36

    37

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

    38

#include "globals.h"

    39

#include "master.h"

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#include "slave.h"

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#include "types.h"

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#include "device.h"

    43

#include "command.h"

    44

#include "ethernet.h"

    45

    46

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

    47

    48

void ec_master_freerun(unsigned long);

    49

#ifdef EOE_TIMER

    50

void ec_master_run_eoe(unsigned long);

    51

#else

    52

void ec_master_run_eoe(void *);

    53

#endif

    54

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

    55

void ec_master_process_watch_command(ec_master_t *);

    56

    57

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

    58

    59

/** \cond */

    60

    61

EC_SYSFS_READ_ATTR(slave_count);

    62

EC_SYSFS_READ_ATTR(mode);

    63

    64

static struct attribute *ec_def_attrs[] = {

    65

    &attr_slave_count,

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    &attr_mode,

    67

    NULL,

    68

};

    69

    70

static struct sysfs_ops ec_sysfs_ops = {

    71

    .show = &ec_show_master_attribute,

    72

    .store = NULL

    73

};

    74

    75

static struct kobj_type ktype_ec_master = {

    76

    .release = ec_master_clear,

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    .sysfs_ops = &ec_sysfs_ops,

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    .default_attrs = ec_def_attrs

    79

};

    80

    81

/** \endcond */

    82

    83

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

    84

    85

/**

    86

   Master constructor.

    87

   \return 0 in case of success, else < 0

    88

*/

    89

    90

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

    91

                   unsigned int index /**< master index */

    92

                   )

    93

{

    94

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

    95

    96

    master->index = index;

    97

    master->device = NULL;

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    master->reserved = 0;

    99

   100

    INIT_LIST_HEAD(&master->slaves);

   101

    INIT_LIST_HEAD(&master->command_queue);

   102

    INIT_LIST_HEAD(&master->domains);

   103

    INIT_LIST_HEAD(&master->eoe_slaves);

   104

   105

    ec_command_init(&master->simple_command);

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    ec_command_init(&master->watch_command);

   107

   108

    // init freerun timer

   109

    init_timer(&master->freerun_timer);

   110

    master->freerun_timer.function = ec_master_freerun;

   111

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

   112

   113

    // init eoe timer

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#ifdef EOE_TIMER

   115

    init_timer(&master->eoe_timer);

   116

    master->eoe_timer.function = ec_master_run_eoe;

   117

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

   118

#else

   119

    if (!(master->eoe_workqueue = create_singlethread_workqueue("EoE"))) {

   120

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

   121

        goto out_return;

   122

    }

   123

    INIT_WORK(&master->eoe_work, ec_master_run_eoe, (void *) master);

   124

#endif

   125

   126

    // init kobject and add it to the hierarchy

   127

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

   128

    kobject_init(&master->kobj);

   129

    master->kobj.ktype = &ktype_ec_master;

   130

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

   131

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

   132

        goto out_kobj_put;

   133

    }

   134

   135

    ec_master_reset(master);

   136

    return 0;

   137

   138

 out_kobj_put:

   139

    kobject_put(&master->kobj);

   140

#ifndef EOE_TIMER

   141

 out_return:

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#endif

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    return -1;

   144

}

   145

   146

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

   147

   148

/**

   149

   Master destructor.

   150

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

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   and frees the device.

   152

*/

   153

   154

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

   155

{

   156

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

   157

   158

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

   159

   160

    ec_master_reset(master);

   161

   162

    if (master->device) {

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        ec_device_clear(master->device);

   164

        kfree(master->device);

   165

    }

   166

   167

    ec_command_clear(&master->simple_command);

   168

    ec_command_clear(&master->watch_command);

   169

   170

#ifndef EOE_TIMER

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    if (master->eoe_workqueue) destroy_workqueue(master->eoe_workqueue);

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#endif

   173

   174

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

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}

   176

   177

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

   178

   179

/**

   180

   Resets the master.

   181

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

   182

   called, to free the slave list, domains etc.

   183

*/

   184

   185

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

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{

   187

    ec_slave_t *slave, *next_s;

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    ec_command_t *command, *next_c;

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    ec_domain_t *domain, *next_d;

   190

    ec_eoe_t *eoe, *next_eoe;

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   192

    // stop EoE processing

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#ifdef EOE_TIMER

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    del_timer_sync(&master->eoe_timer);

   195

#else

   196

    if (master->eoe_workqueue) {

   197

        if (!cancel_delayed_work(&master->eoe_work)) {

   198

            flush_workqueue(master->eoe_workqueue);

   199

        }

   200

    }

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#endif

   202

   203

    // stop free-run mode

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    ec_master_freerun_stop(master);

   205

   206

    // remove all slaves

   207

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

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        list_del(&slave->list);

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        kobject_del(&slave->kobj);

   210

        kobject_put(&slave->kobj);

   211

    }

   212

    master->slave_count = 0;

   213

   214

    // empty command queue

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

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        list_del_init(&command->queue);

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        command->state = EC_CMD_ERROR;

   218

    }

   219

   220

    // clear domains

   221

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

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        list_del(&domain->list);

   223

        kobject_del(&domain->kobj);

   224

        kobject_put(&domain->kobj);

   225

    }

   226

   227

    // clear EoE objects

   228

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

   229

        list_del(&eoe->list);

   230

        ec_eoe_clear(eoe);

   231

        kfree(eoe);

   232

    }

   233

   234

    master->command_index = 0;

   235

    master->debug_level = 0;

   236

    master->timeout = 500; // 500us

   237

   238

    master->slaves_responding = 0;

   239

    master->slave_states = EC_SLAVE_STATE_UNKNOWN;

   240

   241

    master->stats.timeouts = 0;

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    master->stats.delayed = 0;

   243

    master->stats.corrupted = 0;

   244

    master->stats.unmatched = 0;

   245

    master->stats.t_last = 0;

   246

   247

    master->mode = EC_MASTER_MODE_IDLE;

   248

   249

    master->request_cb = NULL;

   250

    master->release_cb = NULL;

   251

    master->cb_data = NULL;

   252

}

   253

   254

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

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   256

/**

   257

   Places a command in the command queue.

   258

*/

   259

   260

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

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                             ec_command_t *command /**< command */

   262

                             )

   263

{

   264

    ec_command_t *queued_command;

   265

   266

    // check, if the command is already queued

   267

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

   268

        if (queued_command == command) {

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            command->state = EC_CMD_QUEUED;

   270

            if (unlikely(master->debug_level))

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

   272

            return;

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        }

   274

    }

   275

   276

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

   277

    command->state = EC_CMD_QUEUED;

   278

}

   279

   280

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

   281

   282

/**

   283

   Sends the commands in the queue.

   284

   \return 0 in case of success, else < 0

   285

*/

   286

   287

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

   288

{

   289

    ec_command_t *command;

   290

    size_t command_size;

   291

    uint8_t *frame_data, *cur_data;

   292

    void *follows_word;

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    cycles_t t_start, t_end;

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    unsigned int frame_count, more_commands_waiting;

   295

   296

    frame_count = 0;

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    t_start = get_cycles();

   298

   299

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

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        EC_DBG("ec_master_send_commands\n");

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   302

    do {

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        // fetch pointer to transmit socket buffer

   304

        frame_data = ec_device_tx_data(master->device);

   305

        cur_data = frame_data + EC_FRAME_HEADER_SIZE;

   306

        follows_word = NULL;

   307

        more_commands_waiting = 0;

   308

   309

        // fill current frame with commands

   310

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

   311

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

   312

   313

            // does the current command fit in the frame?

   314

            command_size = EC_COMMAND_HEADER_SIZE + command->data_size

   315

                + EC_COMMAND_FOOTER_SIZE;

   316

            if (cur_data - frame_data + command_size > ETH_DATA_LEN) {

   317

                more_commands_waiting = 1;

   318

                break;

   319

            }

   320

   321

            command->state = EC_CMD_SENT;

   322

            command->t_sent = t_start;

   323

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

   324

   325

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

   326

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

   327

   328

            // set "command following" flag in previous frame

   329

            if (follows_word)

   330

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

   331

   332

            // EtherCAT command header

   333

            EC_WRITE_U8 (cur_data,     command->type);

   334

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

   335

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

   336

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

   337

            EC_WRITE_U16(cur_data + 8, 0x0000);

   338

            follows_word = cur_data + 6;

   339

            cur_data += EC_COMMAND_HEADER_SIZE;

   340

   341

            // EtherCAT command data

   342

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

   343

            cur_data += command->data_size;

   344

   345

            // EtherCAT command footer

   346

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

   347

            cur_data += EC_COMMAND_FOOTER_SIZE;

   348

        }

   349

   350

        if (cur_data - frame_data == EC_FRAME_HEADER_SIZE) {

   351

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

   352

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

   353

            break;

   354

        }

   355

   356

        // EtherCAT frame header

   357

        EC_WRITE_U16(frame_data, ((cur_data - frame_data

   358

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

   359

   360

        // pad frame

   361

        while (cur_data - frame_data < ETH_ZLEN - ETH_HLEN)

   362

            EC_WRITE_U8(cur_data++, 0x00);

   363

   364

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

   365

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

   366

   367

        // send frame

   368

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

   369

        frame_count++;

   370

    }

   371

    while (more_commands_waiting);

   372

   373

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

   374

        t_end = get_cycles();

   375

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

   376

               frame_count, (u32) (t_end - t_start) * 1000 / cpu_khz);

   377

    }

   378

}

   379

   380

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

   381

   382

/**

   383

   Processes a received frame.

   384

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

   385

   \return 0 in case of success, else < 0

   386

*/

   387

   388

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

   389

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

   390

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

   391

                       )

   392

{

   393

    size_t frame_size, data_size;

   394

    uint8_t command_type, command_index;

   395

    unsigned int cmd_follows, matched;

   396

    const uint8_t *cur_data;

   397

    ec_command_t *command;

   398

   399

    if (unlikely(size < EC_FRAME_HEADER_SIZE)) {

   400

        master->stats.corrupted++;

   401

        ec_master_output_stats(master);

   402

        return;

   403

    }

   404

   405

    cur_data = frame_data;

   406

   407

    // check length of entire frame

   408

    frame_size = EC_READ_U16(cur_data) & 0x07FF;

   409

    cur_data += EC_FRAME_HEADER_SIZE;

   410

   411

    if (unlikely(frame_size > size)) {

   412

        master->stats.corrupted++;

   413

        ec_master_output_stats(master);

   414

        return;

   415

    }

   416

   417

    cmd_follows = 1;

   418

    while (cmd_follows) {

   419

        // process command header

   420

        command_type  = EC_READ_U8 (cur_data);

   421

        command_index = EC_READ_U8 (cur_data + 1);

   422

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

   423

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

   424

        cur_data += EC_COMMAND_HEADER_SIZE;

   425

   426

        if (unlikely(cur_data - frame_data

   427

                     + data_size + EC_COMMAND_FOOTER_SIZE > size)) {

   428

            master->stats.corrupted++;

   429

            ec_master_output_stats(master);

   430

            return;

   431

        }

   432

   433

        // search for matching command in the queue

   434

        matched = 0;

   435

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

   436

            if (command->state == EC_CMD_SENT

   437

                && command->type == command_type

   438

                && command->index == command_index

   439

                && command->data_size == data_size) {

   440

                matched = 1;

   441

                break;

   442

            }

   443

        }

   444

   445

        // no matching command was found

   446

        if (!matched) {

   447

            master->stats.unmatched++;

   448

            ec_master_output_stats(master);

   449

            cur_data += data_size + EC_COMMAND_FOOTER_SIZE;

   450

            continue;

   451

        }

   452

   453

        // copy received data in the command memory

   454

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

   455

        cur_data += data_size;

   456

   457

        // set the command's working counter

   458

        command->working_counter = EC_READ_U16(cur_data);

   459

        cur_data += EC_COMMAND_FOOTER_SIZE;

   460

   461

        // dequeue the received command

   462

        command->state = EC_CMD_RECEIVED;

   463

        list_del_init(&command->queue);

   464

    }

   465

}

   466

   467

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

   468

   469

/**

   470

   Sends a single command and waits for its reception.

   471

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

   472

   \return 0 in case of success, else < 0

   473

*/

   474

   475

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

   476

                        ec_command_t *command /**< command */

   477

                        )

   478

{

   479

    unsigned int response_tries_left;

   480

   481

    response_tries_left = 10;

   482

   483

    while (1)

   484

    {

   485

        ec_master_queue_command(master, command);

   486

        ecrt_master_sync_io(master);

   487