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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

    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 "device.h"

    52

#include "datagram.h"

    53

#include "ethernet.h"

    54

    55

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

    56

    57

void ec_master_destroy_domains(ec_master_t *);

    58

void ec_master_sync_io(ec_master_t *);

    59

static int ec_master_idle_thread(ec_master_t *);

    60

static int ec_master_operation_thread(ec_master_t *);

    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(debug_level);

    74

    75

static struct attribute *ec_def_attrs[] = {

    76

    &attr_info,

    77

    &attr_debug_level,

    78

    NULL,

    79

};

    80

    81

static struct sysfs_ops ec_sysfs_ops = {

    82

    .show = &ec_show_master_attribute,

    83

    .store = ec_store_master_attribute

    84

};

    85

    86

static struct kobj_type ktype_ec_master = {

    87

    .release = NULL,

    88

    .sysfs_ops = &ec_sysfs_ops,

    89

    .default_attrs = ec_def_attrs

    90

};

    91

    92

/** \endcond */

    93

    94

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

    95

    96

/**

    97

   Master constructor.

    98

   \return 0 in case of success, else < 0

    99

*/

   100

   101

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

   102

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

   103

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

   104

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

   105

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

   106

        )

   107

{

   108

    ec_eoe_t *eoe, *next_eoe;

   109

    unsigned int i;

   110

   111

    atomic_set(&master->available, 1);

   112

    master->index = index;

   113

   114

    master->main_mac = main_mac;

   115

    master->backup_mac = backup_mac;

   116

    init_MUTEX(&master->device_sem);

   117

   118

    master->mode = EC_MASTER_MODE_ORPHANED;

   119

    master->injection_seq_fsm = 0;

   120

    master->injection_seq_rt = 0;

   121

   122

    INIT_LIST_HEAD(&master->slaves);

   123

    master->slave_count = 0;

   124

   125

    INIT_LIST_HEAD(&master->datagram_queue);

   126

    master->datagram_index = 0;

   127

   128

    INIT_LIST_HEAD(&master->domains);

   129

    master->debug_level = 0;

   130

   131

    master->stats.timeouts = 0;

   132

    master->stats.corrupted = 0;

   133

    master->stats.skipped = 0;

   134

    master->stats.unmatched = 0;

   135

    master->stats.output_jiffies = 0;

   136

   137

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

   138

        master->idle_cycle_times[i] = 0;

   139

        master->eoe_cycle_times[i] = 0;

   140

    }

   141

    master->idle_cycle_time_pos = 0;

   142

    master->eoe_cycle_time_pos = 0;

   143

   144

    init_timer(&master->eoe_timer);

   145

    master->eoe_timer.function = ec_master_eoe_run;

   146

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

   147

    master->eoe_running = 0;

   148

    master->eoe_checked = 0;

   149

    INIT_LIST_HEAD(&master->eoe_handlers);

   150

   151

    master->internal_lock = SPIN_LOCK_UNLOCKED;

   152

    master->request_cb = NULL;

   153

    master->release_cb = NULL;

   154

    master->cb_data = NULL;

   155

   156

    INIT_LIST_HEAD(&master->eeprom_requests);

   157

    init_MUTEX(&master->eeprom_sem);

   158

    init_waitqueue_head(&master->eeprom_queue);

   159

   160

    master->sdo_request = NULL;

   161

    master->sdo_seq_user = 0;

   162

    master->sdo_seq_master = 0;

   163

    init_MUTEX(&master->sdo_sem);

   164

    init_timer(&master->sdo_timer);

   165

    master->sdo_timer.function = ec_master_check_sdo;

   166

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

   167

    init_completion(&master->sdo_complete);

   168

   169

    // init devices

   170

    if (ec_device_init(&master->main_device, master))

   171

        goto out_return;

   172

   173

    if (ec_device_init(&master->backup_device, master))

   174

        goto out_clear_main;

   175

   176

    // init state machine datagram

   177

    ec_datagram_init(&master->fsm_datagram);

   178

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

   179

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

   180

        goto out_clear_eoe;

   181

    }

   182

   183

    // create state machine object

   184

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

   185

   186

    // init kobject and add it to the hierarchy

   187

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

   188

    kobject_init(&master->kobj);

   189

    master->kobj.ktype = &ktype_ec_master;

   190

    master->kobj.parent = module_kobj;

   191

   192

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

   193

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

   194

        kobject_put(&master->kobj);

   195

        return -1;

   196

    }

   197

   198

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

   199

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

   200

        kobject_put(&master->kobj);

   201

        return -1;

   202

    }

   203

   204

    return 0;

   205

   206

out_clear_eoe:

   207

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

   208

        list_del(&eoe->list);

   209

        ec_eoe_clear(eoe);

   210

        kfree(eoe);

   211

    }

   212

    ec_device_clear(&master->backup_device);

   213

out_clear_main:

   214

    ec_device_clear(&master->main_device);

   215

out_return:

   216

    return -1;

   217

}

   218

   219

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

   220

   221

/**

   222

   Clear and free master.

   223

   This method is called by the kobject,

   224

   once there are no more references to it.

   225

*/

   226

   227

void ec_master_clear(

   228

        ec_master_t *master /**< EtherCAT master */

   229

        )

   230

{

   231

    ec_eoe_t *eoe, *next_eoe;

   232

    ec_datagram_t *datagram, *next_datagram;

   233

   234

    ec_master_destroy_slaves(master);

   235

    ec_master_destroy_domains(master);

   236

   237

    // list of EEPROM requests is empty,

   238

    // otherwise master could not be cleared.

   239

   240

    // dequeue all datagrams

   241

    list_for_each_entry_safe(datagram, next_datagram,

   242

                             &master->datagram_queue, queue) {

   243

        datagram->state = EC_DATAGRAM_ERROR;

   244

        list_del_init(&datagram->queue);

   245

    }

   246

   247

    ec_fsm_master_clear(&master->fsm);

   248

    ec_datagram_clear(&master->fsm_datagram);

   249

   250

    // clear EoE objects

   251

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

   252

        list_del(&eoe->list);

   253

        ec_eoe_clear(eoe);

   254

        kfree(eoe);

   255

    }

   256

   257

    ec_device_clear(&master->backup_device);

   258

    ec_device_clear(&master->main_device);

   259

   260

    // destroy self

   261

    kobject_del(&master->kobj);

   262

    kobject_put(&master->kobj);

   263

   264

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

   265

}

   266

   267

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

   268

   269

/**

   270

   Destroy all slaves.

   271

*/

   272

   273

void ec_master_destroy_slaves(ec_master_t *master)

   274

{

   275

    ec_slave_t *slave, *next_slave;

   276

   277

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

   278

        list_del(&slave->list);

   279

        ec_slave_destroy(slave);

   280

    }

   281

   282

    master->slave_count = 0;

   283

}

   284

   285

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

   286

   287

/**

   288

   Destroy all domains.

   289

*/

   290

   291

void ec_master_destroy_domains(ec_master_t *master)

   292

{

   293

    ec_domain_t *domain, *next_d;

   294

   295

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

   296

        list_del(&domain->list);

   297

        ec_domain_destroy(domain);

   298

    }

   299

}

   300

   301

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

   302

   303

/**

   304

   Flushes the SDO request queue.

   305

*/

   306

   307

void ec_master_flush_sdo_requests(ec_master_t *master)

   308

{

   309

    del_timer_sync(&master->sdo_timer);

   310

    complete(&master->sdo_complete);

   311

    master->sdo_request = NULL;

   312

    master->sdo_seq_user = 0;

   313

    master->sdo_seq_master = 0;

   314

}

   315

   316

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

   317

   318

/**

   319

   Internal locking callback.

   320

*/

   321

   322

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

   323

{

   324

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

   325

    return 0;

   326

}

   327

   328

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

   329

   330

/**

   331

   Internal unlocking callback.

   332

*/

   333

   334

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

   335

{

   336

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

   337

}

   338

   339

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

   340

   341

/**

   342

 * Starts the master thread.

   343

*/

   344

   345

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

   346

{

   347

    int (*thread_func)(ec_master_t *);

   348

   349

    switch (master->mode) {

   350

        case EC_MASTER_MODE_IDLE:

   351

            thread_func = ec_master_idle_thread;

   352

            break;

   353

        case EC_MASTER_MODE_OPERATION:

   354

            thread_func = ec_master_operation_thread;

   355

            break;

   356

        default:

   357

            EC_ERR("Invalid master mode while starting thread!\n");

   358

            return -1;

   359

    }

   360

   361

    init_completion(&master->thread_exit);

   362

   363

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

   364

    if (!(master->thread_id = kernel_thread((int (*)(void *)) thread_func,

   365

                    master, CLONE_KERNEL)))

   366

        return -1;

   367

   368

    return 0;

   369

}

   370

   371

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

   372

   373

/**

   374

 * Stops the master thread.

   375

*/

   376

   377

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

   378

{

   379

    if (master->thread_id) {

   380

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

   381

        wait_for_completion(&master->thread_exit);

   382

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

   383

    }    

   384

}

   385

   386

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

   387

   388

/**

   389

 * Transition function from ORPHANED to IDLE mode.

   390

*/

   391

   392

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

   393

{

   394

    master->request_cb = ec_master_request_cb;

   395

    master->release_cb = ec_master_release_cb;

   396

    master->cb_data = master;

   397

   398

    master->mode = EC_MASTER_MODE_IDLE;

   399

    if (ec_master_thread_start(master)) {

   400

        master->mode = EC_MASTER_MODE_ORPHANED;

   401

        return -1;

   402

    }

   403

   404

    return 0;

   405

}

   406

   407

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

   408

   409

/**

   410

 * Transition function from IDLE to ORPHANED mode.

   411

*/

   412

   413

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

   414

{

   415

    master->mode = EC_MASTER_MODE_ORPHANED;

   416

   417

    ec_master_eoe_stop(master);

   418

    ec_master_thread_stop(master);

   419

    ec_master_flush_sdo_requests(master);

   420

    ec_master_destroy_slaves(master);

   421

}

   422

   423

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

   424

   425

/**

   426

 * Transition function from IDLE to OPERATION mode.

   427

*/

   428

   429

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

   430

{

   431

    ec_slave_t *slave;

   432

   433

    ec_master_eoe_stop(master); // stop EoE timer

   434

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

   435

    ec_master_thread_stop(master);

   436

   437

    master->mode = EC_MASTER_MODE_OPERATION;

   438

   439

    // wait for FSM datagram

   440

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

   441

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

   442

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

   443

        ecrt_master_receive(master);

   444

    }

   445

   446

    // finish running IDLE FSM

   447

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

   448

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

   449

            ec_master_queue_datagram(master, &master->fsm_datagram);

   450

            ec_master_sync_io(master);

   451

        }

   452

    }

   453

   454

    if (master->debug_level) {

   455

        if (ec_master_measure_bus_time(master)) {

   456

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

   457

            goto out_idle;

   458

        }

   459

    }

   460

   461

    // set initial slave states

   462

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

   463

        ec_slave_request_state(slave, EC_SLAVE_STATE_PREOP);

   464

    }

   465

   466

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

   467

    master->pdo_slaves_offline = 0; // assume all PDO slaves online

   468

    master->injection_seq_fsm = 0;

   469

    master->injection_seq_rt = 0;

   470

   471

    return 0;

   472

   473

 out_idle:

   474

    master->mode = EC_MASTER_MODE_IDLE;

   475

    if (ec_master_thread_start(master)) {

   476

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

   477

    }

   478

    return -1;

   479

}

   480

   481

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

   482

   483

/**

   484

 * Transition function from OPERATION to IDLE mode.

   485

*/

   486