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

     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

/** Set to 1 to enable external datagram injection debugging.

    58

 */

    59

#define DEBUG_INJECT 0

    60

    61

#ifdef EC_HAVE_CYCLES

    62

    63

/** Frame timeout in cycles.

    64

 */

    65

static cycles_t timeout_cycles;

    66

static cycles_t sdo_injection_timeout_cycles;

    67

#else

    68

    69

/** Frame timeout in jiffies.

    70

 */

    71

static unsigned long timeout_jiffies;

    72

static unsigned long sdo_injection_timeout_jiffies;

    73

    74

#endif

    75

    76

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

    77

    78

void ec_master_clear_slave_configs(ec_master_t *);

    79

void ec_master_clear_domains(ec_master_t *);

    80

static int ec_master_idle_thread(void *);

    81

static int ec_master_operation_thread(void *);

    82

#ifdef EC_EOE

    83

static int ec_master_eoe_thread(void *);

    84

#endif

    85

void ec_master_find_dc_ref_clock(ec_master_t *);

    86

    87

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

    88

    89

/** Static variables initializer.

    90

*/

    91

void ec_master_init_static(void)

    92

{

    93

#ifdef EC_HAVE_CYCLES

    94

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

    95

    sdo_injection_timeout_cycles = (cycles_t) EC_SDO_INJECTION_TIMEOUT /* us */ * (cpu_khz / 1000);

    96

#else

    97

    // one jiffy may always elapse between time measurement

    98

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

    99

    sdo_injection_timeout_jiffies = max(EC_SDO_INJECTION_TIMEOUT * HZ / 1000000, 1);

   100

#endif

   101

}

   102

   103

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

   104

   105

/**

   106

   Master constructor.

   107

   \return 0 in case of success, else < 0

   108

*/

   109

   110

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

   111

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

   112

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

   113

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

   114

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

   115

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

   116

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

   117

        )

   118

{

   119

    int ret;

   120

   121

    master->index = index;

   122

    master->reserved = 0;

   123

   124

    sema_init(&master->master_sem, 1);

   125

   126

    master->main_mac = main_mac;

   127

    master->backup_mac = backup_mac;

   128

   129

    sema_init(&master->device_sem, 1);

   130

   131

    master->phase = EC_ORPHANED;

   132

    master->active = 0;

   133

    master->injection_seq_fsm = 0;

   134

    master->injection_seq_rt = 0;

   135

   136

    master->slaves = NULL;

   137

    master->slave_count = 0;

   138

   139

    INIT_LIST_HEAD(&master->configs);

   140

   141

    master->app_time = 0ULL;

   142

    master->app_start_time = 0ULL;

   143

    master->has_start_time = 0;

   144

   145

    master->scan_busy = 0;

   146

    master->allow_scan = 1;

   147

    sema_init(&master->scan_sem, 1);

   148

    init_waitqueue_head(&master->scan_queue);

   149

   150

    master->config_busy = 0;

   151

    master->allow_config = 1;

   152

    sema_init(&master->config_sem, 1);

   153

    init_waitqueue_head(&master->config_queue);

   154

   155

    INIT_LIST_HEAD(&master->datagram_queue);

   156

    master->datagram_index = 0;

   157

   158

    INIT_LIST_HEAD(&master->ext_datagram_queue);

   159

    sema_init(&master->ext_queue_sem, 1);

   160

   161

    INIT_LIST_HEAD(&master->external_datagram_queue);

   162

    master->max_queue_size = EC_MAX_DATA_SIZE;

   163

   164

    INIT_LIST_HEAD(&master->domains);

   165

   166

    master->debug_level = debug_level;

   167

    master->stats.timeouts = 0;

   168

    master->stats.corrupted = 0;

   169

    master->stats.unmatched = 0;

   170

    master->stats.output_jiffies = 0;

   171

    master->frames_timed_out = 0;

   172

   173

    master->thread = NULL;

   174

   175

#ifdef EC_EOE

   176

    master->eoe_thread = NULL;

   177

    INIT_LIST_HEAD(&master->eoe_handlers);

   178

#endif

   179

   180

    sema_init(&master->io_sem, 1);

   181

    master->send_cb = NULL;

   182

    master->receive_cb = NULL;

   183

    master->cb_data = NULL;

   184

    master->app_send_cb = NULL;

   185

    master->app_receive_cb = NULL;

   186

    master->app_cb_data = NULL;

   187

   188

    INIT_LIST_HEAD(&master->sii_requests);

   189

    init_waitqueue_head(&master->sii_queue);

   190

   191

    INIT_LIST_HEAD(&master->reg_requests);

   192

    init_waitqueue_head(&master->reg_queue);

   193

   194

    // init devices

   195

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

   196

    if (ret < 0)

   197

        goto out_return;

   198

   199

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

   200

    if (ret < 0)

   201

        goto out_clear_main;

   202

   203

    // init state machine datagram

   204

    ec_datagram_init(&master->fsm_datagram);

   205

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

   206

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

   207

    if (ret < 0) {

   208

        ec_datagram_clear(&master->fsm_datagram);

   209

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

   210

        goto out_clear_backup;

   211

    }

   212

   213

    // create state machine object

   214

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

   215

   216

    // init reference sync datagram

   217

    ec_datagram_init(&master->ref_sync_datagram);

   218

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

   219

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

   220

    if (ret < 0) {

   221

        ec_datagram_clear(&master->ref_sync_datagram);

   222

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

   223

        goto out_clear_fsm;

   224

    }

   225

   226

    // init sync datagram

   227

    ec_datagram_init(&master->sync_datagram);

   228

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

   229

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

   230

    if (ret < 0) {

   231

        ec_datagram_clear(&master->sync_datagram);

   232

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

   233

        goto out_clear_ref_sync;

   234

    }

   235

   236

    // init sync monitor datagram

   237

    ec_datagram_init(&master->sync_mon_datagram);

   238

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

   239

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

   240

    if (ret < 0) {

   241

        ec_datagram_clear(&master->sync_mon_datagram);

   242

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

   243

        goto out_clear_sync;

   244

    }

   245

   246

    ec_master_find_dc_ref_clock(master);

   247

   248

    // init character device

   249

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

   250

    if (ret)

   251

        goto out_clear_sync_mon;

   252

   253

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

   254

    master->class_device = device_create(class, NULL,

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

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

   257

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

   258

    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);

   261

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

   262

    master->class_device = class_device_create(class, NULL,

   263

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

   264

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

   265

#else

   266

    master->class_device = class_device_create(class,

   267

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

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

   269

#endif

   270

    if (IS_ERR(master->class_device)) {

   271

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

   272

        ret = PTR_ERR(master->class_device);

   273

        goto out_clear_cdev;

   274

    }

   275

   276

    return 0;

   277

   278

out_clear_cdev:

   279

    ec_cdev_clear(&master->cdev);

   280

out_clear_sync_mon:

   281

    ec_datagram_clear(&master->sync_mon_datagram);

   282

out_clear_sync:

   283

    ec_datagram_clear(&master->sync_datagram);

   284

out_clear_ref_sync:

   285

    ec_datagram_clear(&master->ref_sync_datagram);

   286

out_clear_fsm:

   287

    ec_fsm_master_clear(&master->fsm);

   288

    ec_datagram_clear(&master->fsm_datagram);

   289

out_clear_backup:

   290

    ec_device_clear(&master->backup_device);

   291

out_clear_main:

   292

    ec_device_clear(&master->main_device);

   293

out_return:

   294

    return ret;

   295

}

   296

   297

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

   298

   299

/** Destructor.

   300

*/

   301

void ec_master_clear(

   302

        ec_master_t *master /**< EtherCAT master */

   303

        )

   304

{

   305

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

   306

    device_unregister(master->class_device);

   307

#else

   308

    class_device_unregister(master->class_device);

   309

#endif

   310

   311

    ec_cdev_clear(&master->cdev);

   312

   313

#ifdef EC_EOE

   314

    ec_master_clear_eoe_handlers(master);

   315

#endif

   316

    ec_master_clear_domains(master);

   317

    ec_master_clear_slave_configs(master);

   318

    ec_master_clear_slaves(master);

   319

   320

    ec_datagram_clear(&master->sync_mon_datagram);

   321

    ec_datagram_clear(&master->sync_datagram);

   322

    ec_datagram_clear(&master->ref_sync_datagram);

   323

    ec_fsm_master_clear(&master->fsm);

   324

    ec_datagram_clear(&master->fsm_datagram);

   325

    ec_device_clear(&master->backup_device);

   326

    ec_device_clear(&master->main_device);

   327

}

   328

   329

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

   330

   331

#ifdef EC_EOE

   332

/** Clear and free all EoE handlers.

   333

 */

   334

void ec_master_clear_eoe_handlers(

   335

        ec_master_t *master /**< EtherCAT master */

   336

        )

   337

{

   338

    ec_eoe_t *eoe, *next;

   339

   340

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

   341

        list_del(&eoe->list);

   342

        ec_eoe_clear(eoe);

   343

        kfree(eoe);

   344

    }

   345

}

   346

#endif

   347

   348

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

   349

   350

/** Clear all slave configurations.

   351

 */

   352

void ec_master_clear_slave_configs(ec_master_t *master)

   353

{

   354

    ec_slave_config_t *sc, *next;

   355

   356

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

   357

        list_del(&sc->list);

   358

        ec_slave_config_clear(sc);

   359

        kfree(sc);

   360

    }

   361

}

   362

   363

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

   364

   365

/** Clear all slaves.

   366

 */

   367

void ec_master_clear_slaves(ec_master_t *master)

   368

{

   369

    ec_slave_t *slave;

   370

   371

    master->dc_ref_clock = NULL;

   372

   373

    // external requests are obsolete, so we wake pending waiters and remove

   374

    // them from the list

   375

    //

   376

	// SII requests

   377

	while (1) {

   378

		ec_sii_write_request_t *request;

   379

		if (list_empty(&master->sii_requests))

   380

			break;

   381

		// get first request

   382

        request = list_entry(master->sii_requests.next,

   383

                ec_sii_write_request_t, list);

   384

		list_del_init(&request->list); // dequeue

   385

		EC_INFO("Discarding SII request, slave %u does not exist anymore.\n",

   386

				request->slave->ring_position);

   387

		request->state = EC_INT_REQUEST_FAILURE;

   388

		wake_up(&master->sii_queue);

   389

	}

   390

   391

	// Register requests

   392

	while (1) {

   393

	    ec_reg_request_t *request;

   394

		if (list_empty(&master->reg_requests))

   395

			break;

   396

		// get first request

   397

		request = list_entry(master->reg_requests.next,

   398

				ec_reg_request_t, list);

   399

		list_del_init(&request->list); // dequeue

   400

		EC_INFO("Discarding Reg request, slave %u does not exist anymore.\n",

   401

				request->slave->ring_position);

   402

		request->state = EC_INT_REQUEST_FAILURE;

   403

		wake_up(&master->reg_queue);

   404

	}

   405

   406

    for (slave = master->slaves;

   407

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

   408

            slave++) {

   409

        // SDO requests

   410

        while (1) {

   411

            ec_master_sdo_request_t *request;

   412

            if (list_empty(&slave->slave_sdo_requests))

   413

                break;

   414

            // get first request

   415

            request = list_entry(slave->slave_sdo_requests.next,

   416

                    ec_master_sdo_request_t, list);

   417

            list_del_init(&request->list); // dequeue

   418

            EC_INFO("Discarding SDO request, slave %u does not exist anymore.\n",

   419

                    slave->ring_position);

   420

            request->req.state = EC_INT_REQUEST_FAILURE;

   421

            wake_up(&slave->sdo_queue);

   422

        }

   423

        // FoE requests

   424

        while (1) {

   425

            ec_master_foe_request_t *request;

   426

            if (list_empty(&slave->foe_requests))

   427

                break;

   428

            // get first request

   429

            request = list_entry(slave->foe_requests.next,

   430

                    ec_master_foe_request_t, list);

   431

            list_del_init(&request->list); // dequeue

   432

            EC_INFO("Discarding FOE request, slave %u does not exist anymore.\n",

   433

                    slave->ring_position);

   434

            request->req.state = EC_INT_REQUEST_FAILURE;

   435

            wake_up(&slave->foe_queue);

   436

        }

   437

        ec_slave_clear(slave);

   438

    }

   439

   440

    if (master->slaves) {

   441

        kfree(master->slaves);

   442

        master->slaves = NULL;

   443

    }

   444

   445

    master->slave_count = 0;

   446

}

   447

   448

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

   449

   450

/** Clear all domains.

   451

 */

   452

void ec_master_clear_domains(ec_master_t *master)

   453

{

   454

    ec_domain_t *domain, *next;

   455

   456

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

   457

        list_del(&domain->list);

   458

        ec_domain_clear(domain);

   459

        kfree(domain);

   460

    }

   461

}

   462

   463

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

   464

   465

/** Internal sending callback.

   466

 */

   467

void ec_master_internal_send_cb(

   468

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

   469

        )

   470

{

   471

    ec_master_t *master = (ec_master_t *) cb_data;

   472

    down(&master->io_sem);

   473

    ecrt_master_send_ext(master);

   474

    up(&master->io_sem);

   475

}

   476

   477

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

   478

   479

/** Internal receiving callback.

   480

 */

   481

void ec_master_internal_receive_cb(

   482

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

   483

        )