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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

   161

    init_MUTEX(&master->sdo_sem);

   163

   164

    // init devices

   165

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

   166

        goto out_return;

   167

   168

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

   169

        goto out_clear_main;

   170

   171

    // init state machine datagram

   172

    ec_datagram_init(&master->fsm_datagram);

   173

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

   174

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

   175

        goto out_clear_eoe;

   176

    }

   177

   178

    // create state machine object

   179

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

   180

   181

    // init kobject and add it to the hierarchy

   182

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

   183

    kobject_init(&master->kobj);

   184

    master->kobj.ktype = &ktype_ec_master;

   185

    master->kobj.parent = module_kobj;

   186

   187

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

   188

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

   189

        kobject_put(&master->kobj);

   190

        return -1;

   191

    }

   192

   193

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

   194

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

   195

        kobject_put(&master->kobj);

   196

        return -1;

   197

    }

   198

   199

    return 0;

   200

   201

out_clear_eoe:

   202

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

   203

        list_del(&eoe->list);

   204

        ec_eoe_clear(eoe);

   205

        kfree(eoe);

   206

    }

   207

    ec_device_clear(&master->backup_device);

   208

out_clear_main:

   209

    ec_device_clear(&master->main_device);

   210

out_return:

   211

    return -1;

   212

}

   213

   214

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

   215

   216

/**

   217

   Clear and free master.

   218

   This method is called by the kobject,

   219

   once there are no more references to it.

   220

*/

   221

   222

void ec_master_clear(

   223

        ec_master_t *master /**< EtherCAT master */

   224

        )

   225

{

   226

    ec_eoe_t *eoe, *next_eoe;

   227

    ec_datagram_t *datagram, *next_datagram;

   228

   229

    ec_master_destroy_slaves(master);

   230

    ec_master_destroy_domains(master);

   231

   232

    // list of EEPROM requests is empty,

   233

    // otherwise master could not be cleared.

   234

   235

    // dequeue all datagrams

   236

    list_for_each_entry_safe(datagram, next_datagram,

   237

                             &master->datagram_queue, queue) {

   238

        datagram->state = EC_DATAGRAM_ERROR;

   239

        list_del_init(&datagram->queue);

   240

    }

   241

   242

    ec_fsm_master_clear(&master->fsm);

   243

    ec_datagram_clear(&master->fsm_datagram);

   244

   245

    // clear EoE objects

   246

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

   247

        list_del(&eoe->list);

   248

        ec_eoe_clear(eoe);

   249

        kfree(eoe);

   250

    }

   251

   252

    ec_device_clear(&master->backup_device);

   253

    ec_device_clear(&master->main_device);

   254

   255

    // destroy self

   256

    kobject_del(&master->kobj);

   257

    kobject_put(&master->kobj);

   258

   259

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

   260

}

   261

   262

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

   263

   264

/**

   265

   Destroy all slaves.

   266

*/

   267

   268

void ec_master_destroy_slaves(ec_master_t *master)

   269

{

   270

    ec_slave_t *slave, *next_slave;

   271

   272

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

   273

        list_del(&slave->list);

   274

        ec_slave_destroy(slave);

   275

    }

   276

   277

    master->slave_count = 0;

   278

}

   279

   280

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

   281

   282

/**

   283

   Destroy all domains.

   284

*/

   285

   286

void ec_master_destroy_domains(ec_master_t *master)

   287

{

   288

    ec_domain_t *domain, *next_d;

   289

   290

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

   291

        list_del(&domain->list);

   292

        ec_domain_destroy(domain);

   293

    }

   294

}

   295

   296

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

   297

   298

/**

   299

   Internal locking callback.

   300

*/

   301

   302

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

   303

{

   304

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

   305

    return 0;

   306

}

   307

   308

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

   309

   310

/**

   311

   Internal unlocking callback.

   312

*/

   313

   314

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

   315

{

   316

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

   317

}

   318

   319

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

   320

   321

/**

   322

 * Starts the master thread.

   323

*/

   324

   325

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

   326

{

   327

    int (*thread_func)(ec_master_t *);

   328

   329

    switch (master->mode) {

   330

        case EC_MASTER_MODE_IDLE:

   331

            thread_func = ec_master_idle_thread;

   332

            break;

   333

        case EC_MASTER_MODE_OPERATION:

   334

            thread_func = ec_master_operation_thread;

   335

            break;

   336

        default:

   337

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

   338

            return -1;

   339

    }

   340

   341

    init_completion(&master->thread_exit);

   342

   343

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

   344

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

   345

                    master, CLONE_KERNEL)))

   346

        return -1;

   347

   348

    return 0;

   349

}

   350

   351

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

   352

   353

/**

   354

 * Stops the master thread.

   355

*/

   356

   357

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

   358

{

   359

    if (master->thread_id) {

   360

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

   361

        wait_for_completion(&master->thread_exit);

   362

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

   363

    }    

   364

}

   365

   366

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

   367

   368

/**

   369

 * Transition function from ORPHANED to IDLE mode.

   370

*/

   371

   372

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

   373

{

   374

    master->request_cb = ec_master_request_cb;

   375

    master->release_cb = ec_master_release_cb;

   376

    master->cb_data = master;

   377

   378

    master->mode = EC_MASTER_MODE_IDLE;

   379

    if (ec_master_thread_start(master)) {

   380

        master->mode = EC_MASTER_MODE_ORPHANED;

   381

        return -1;

   382

    }

   383

   384

    return 0;

   385

}

   386

   387

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

   388

   389

/**

   390

 * Transition function from IDLE to ORPHANED mode.

   391

*/

   392

   393

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

   394

{

   395

    master->mode = EC_MASTER_MODE_ORPHANED;

   396

   397

    ec_master_eoe_stop(master);

   398

    ec_master_thread_stop(master);

   399

    ec_master_destroy_slaves(master);

   400

}

   401

   402

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

   403

   404

/**

   405

 * Transition function from IDLE to OPERATION mode.

   406

*/

   407

   408

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

   409

{

   410

    ec_slave_t *slave;

   411

   412

    ec_master_eoe_stop(master); // stop EoE timer

   413

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

   414

    ec_master_thread_stop(master);

   415

   416

    master->mode = EC_MASTER_MODE_OPERATION;

   417

   418

    // wait for FSM datagram

   419

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

   420

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

   421

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

   422

        ecrt_master_receive(master);

   423

    }

   424

   425

    // finish running IDLE FSM

   426

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

   427

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

   428

            ec_master_queue_datagram(master, &master->fsm_datagram);

   429

            ec_master_sync_io(master);

   430

        }

   431

    }

   432

   433

    if (master->debug_level) {

   434

        if (ec_master_measure_bus_time(master)) {

   435

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

   436

            goto out_idle;

   437

        }

   438

    }

   439

   440

    // set initial slave states

   441

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

   442

        ec_slave_request_state(slave, EC_SLAVE_STATE_PREOP);

   443

    }

   444

   445

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

   446

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

   447

    master->injection_seq_fsm = 0;

   448

    master->injection_seq_rt = 0;

   449

   450

    return 0;

   451

   452

 out_idle:

   453

    master->mode = EC_MASTER_MODE_IDLE;

   454

    if (ec_master_thread_start(master)) {

   455

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

   456

    }

   457

    return -1;

   458

}

   459

   460

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

   461

   462

/**

   463

 * Transition function from OPERATION to IDLE mode.

   464

*/

   465

   466

void ec_master_leave_operation_mode(ec_master_t *master

   467

                                    /**< EtherCAT master */)

   468

{

   469

    ec_slave_t *slave;

   470

    ec_fsm_master_t *fsm = &master->fsm;

   471

    ec_fsm_slave_t fsm_slave;

   472

   473

    ec_master_eoe_stop(master); // stop EoE timer

   474

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

   475

    ec_master_thread_stop(master); // stop master thread

   476

    master->injection_seq_fsm = 0;

   477

    master->injection_seq_rt = 0;

   478

   479

    // wait for FSM datagram

   480

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

   481

        // active waiting

   482

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

   483

               < (cycles_t) EC_IO_TIMEOUT /* us */ * (cpu_khz / 1000));

   484

        ecrt_master_receive(master);

   485

    }

   486