/******************************************************************************
*
* $Id$
*
* Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH
*
* This file is part of the IgH EtherCAT Master.
*
* The IgH EtherCAT Master is free software; you can redistribute it
* and/or modify it under the terms of the GNU General Public License
* as published by the Free Software Foundation; either version 2 of the
* License, or (at your option) any later version.
*
* The IgH EtherCAT Master is distributed in the hope that it will be
* useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with the IgH EtherCAT Master; if not, write to the Free Software
* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
*
* The right to use EtherCAT Technology is granted and comes free of
* charge under condition of compatibility of product made by
* Licensee. People intending to distribute/sell products based on the
* code, have to sign an agreement to guarantee that products using
* software based on IgH EtherCAT master stay compatible with the actual
* EtherCAT specification (which are released themselves as an open
* standard) as the (only) precondition to have the right to use EtherCAT
* Technology, IP and trade marks.
*
*****************************************************************************/
/**
\file
EtherCAT master methods.
*/
/*****************************************************************************/
#include <linux/module.h>
#include <linux/kernel.h>
#include <linux/string.h>
#include <linux/slab.h>
#include <linux/delay.h>
#include "../include/ecrt.h"
#include "globals.h"
#include "slave.h"
#include "slave_config.h"
#include "device.h"
#include "datagram.h"
#ifdef EC_EOE
#include "ethernet.h"
#endif
#include "master.h"
/*****************************************************************************/
void ec_master_destroy_slave_configs(ec_master_t *);
void ec_master_destroy_domains(ec_master_t *);
static int ec_master_idle_thread(ec_master_t *);
static int ec_master_operation_thread(ec_master_t *);
#ifdef EC_EOE
void ec_master_eoe_run(unsigned long);
#endif
ssize_t ec_show_master_attribute(struct kobject *, struct attribute *, char *);
ssize_t ec_store_master_attribute(struct kobject *, struct attribute *,
const char *, size_t);
/*****************************************************************************/
/** \cond */
EC_SYSFS_READ_ATTR(info);
EC_SYSFS_READ_WRITE_ATTR(debug_level);
static struct attribute *ec_def_attrs[] = {
&attr_info,
&attr_debug_level,
NULL,
};
static struct sysfs_ops ec_sysfs_ops = {
.show = &ec_show_master_attribute,
.store = ec_store_master_attribute
};
static struct kobj_type ktype_ec_master = {
.release = NULL,
.sysfs_ops = &ec_sysfs_ops,
.default_attrs = ec_def_attrs
};
/** \endcond */
/*****************************************************************************/
/**
Master constructor.
\return 0 in case of success, else < 0
*/
int ec_master_init(ec_master_t *master, /**< EtherCAT master */
struct kobject *module_kobj, /**< kobject of the master module */
unsigned int index, /**< master index */
const uint8_t *main_mac, /**< MAC address of main device */
const uint8_t *backup_mac /**< MAC address of backup device */
)
{
unsigned int i;
master->index = index;
master->reserved = 0;
master->main_mac = main_mac;
master->backup_mac = backup_mac;
init_MUTEX(&master->device_sem);
master->mode = EC_MASTER_MODE_ORPHANED;
master->injection_seq_fsm = 0;
master->injection_seq_rt = 0;
INIT_LIST_HEAD(&master->slaves);
master->slave_count = 0;
INIT_LIST_HEAD(&master->configs);
master->scan_state = EC_REQUEST_COMPLETE;
master->allow_scan = 1;
init_MUTEX(&master->scan_sem);
init_waitqueue_head(&master->scan_queue);
master->config_state = EC_REQUEST_COMPLETE;
master->allow_config = 1;
init_MUTEX(&master->config_sem);
init_waitqueue_head(&master->config_queue);
INIT_LIST_HEAD(&master->datagram_queue);
master->datagram_index = 0;
INIT_LIST_HEAD(&master->domains);
master->debug_level = 0;
master->stats.timeouts = 0;
master->stats.corrupted = 0;
master->stats.unmatched = 0;
master->stats.output_jiffies = 0;
master->pdo_slaves_offline = 0; // assume all Pdo slaves online
master->frames_timed_out = 0;
for (i = 0; i < HZ; i++) {
master->idle_cycle_times[i] = 0;
#ifdef EC_EOE
master->eoe_cycle_times[i] = 0;
#endif
}
master->idle_cycle_time_pos = 0;
#ifdef EC_EOE
master->eoe_cycle_time_pos = 0;
init_timer(&master->eoe_timer);
master->eoe_timer.function = ec_master_eoe_run;
master->eoe_timer.data = (unsigned long) master;
master->eoe_running = 0;
INIT_LIST_HEAD(&master->eoe_handlers);
#endif
master->internal_lock = SPIN_LOCK_UNLOCKED;
master->request_cb = NULL;
master->release_cb = NULL;
master->cb_data = NULL;
INIT_LIST_HEAD(&master->eeprom_requests);
init_MUTEX(&master->eeprom_sem);
init_waitqueue_head(&master->eeprom_queue);
INIT_LIST_HEAD(&master->sdo_requests);
init_MUTEX(&master->sdo_sem);
init_waitqueue_head(&master->sdo_queue);
// init devices
if (ec_device_init(&master->main_device, master))
goto out_return;
if (ec_device_init(&master->backup_device, master))
goto out_clear_main;
// init state machine datagram
ec_datagram_init(&master->fsm_datagram);
snprintf(master->fsm_datagram.name, EC_DATAGRAM_NAME_SIZE, "master-fsm");
if (ec_datagram_prealloc(&master->fsm_datagram, EC_MAX_DATA_SIZE)) {
EC_ERR("Failed to allocate FSM datagram.\n");
goto out_clear_backup;
}
// create state machine object
ec_fsm_master_init(&master->fsm, master, &master->fsm_datagram);
// init kobject and add it to the hierarchy
memset(&master->kobj, 0x00, sizeof(struct kobject));
kobject_init(&master->kobj);
master->kobj.ktype = &ktype_ec_master;
master->kobj.parent = module_kobj;
if (kobject_set_name(&master->kobj, "master%i", index)) {
EC_ERR("Failed to set master kobject name.\n");
kobject_put(&master->kobj);
goto out_clear_fsm;
}
if (kobject_add(&master->kobj)) {
EC_ERR("Failed to add master kobject.\n");
kobject_put(&master->kobj);
goto out_clear_fsm;
}
return 0;
out_clear_fsm:
ec_fsm_master_clear(&master->fsm);
out_clear_backup:
ec_device_clear(&master->backup_device);
out_clear_main:
ec_device_clear(&master->main_device);
out_return:
return -1;
}
/*****************************************************************************/
/**
Clear and free master.
This method is called by the kobject,
once there are no more references to it.
*/
void ec_master_clear(
ec_master_t *master /**< EtherCAT master */
)
{
#ifdef EC_EOE
ec_master_clear_eoe_handlers(master);
#endif
ec_master_destroy_slave_configs(master);
ec_master_destroy_slaves(master);
ec_master_destroy_domains(master);
ec_fsm_master_clear(&master->fsm);
ec_datagram_clear(&master->fsm_datagram);
ec_device_clear(&master->backup_device);
ec_device_clear(&master->main_device);
// destroy self
kobject_del(&master->kobj);
kobject_put(&master->kobj);
}
/*****************************************************************************/
#ifdef EC_EOE
/** Clear and free all EoE handlers.
*/
void ec_master_clear_eoe_handlers(
ec_master_t *master /**< EtherCAT master */
)
{
ec_eoe_t *eoe, *next;
list_for_each_entry_safe(eoe, next, &master->eoe_handlers, list) {
list_del(&eoe->list);
ec_eoe_clear(eoe);
kfree(eoe);
}
}
#endif
/*****************************************************************************/
/** Destroy all slave configurations.
*/
void ec_master_destroy_slave_configs(ec_master_t *master)
{
ec_slave_config_t *sc, *next;
list_for_each_entry_safe(sc, next, &master->configs, list) {
list_del(&sc->list);
ec_slave_config_destroy(sc);
}
}
/*****************************************************************************/
/** Destroy all slaves.
*/
void ec_master_destroy_slaves(ec_master_t *master)
{
ec_slave_t *slave, *next;
list_for_each_entry_safe(slave, next, &master->slaves, list) {
list_del(&slave->list);
ec_slave_destroy(slave);
}
master->slave_count = 0;
}
/*****************************************************************************/
/**
Destroy all domains.
*/
void ec_master_destroy_domains(ec_master_t *master)
{
ec_domain_t *domain, *next;
list_for_each_entry_safe(domain, next, &master->domains, list) {
list_del(&domain->list);
ec_domain_destroy(domain);
}
}
/*****************************************************************************/
/**
Internal locking callback.
*/
int ec_master_request_cb(void *master /**< callback data */)
{
spin_lock(&((ec_master_t *) master)->internal_lock);
return 0;
}
/*****************************************************************************/
/**
Internal unlocking callback.
*/
void ec_master_release_cb(void *master /**< callback data */)
{
spin_unlock(&((ec_master_t *) master)->internal_lock);
}
/*****************************************************************************/
/**
* Starts the master thread.
*/
int ec_master_thread_start(
ec_master_t *master, /**< EtherCAT master */
int (*thread_func)(ec_master_t *) /**< thread function to start */
)
{
init_completion(&master->thread_exit);
EC_INFO("Starting master thread.\n");
if (!(master->thread_id = kernel_thread((int (*)(void *)) thread_func,
master, CLONE_KERNEL)))
return -1;
return 0;
}
/*****************************************************************************/
/**
* Stops the master thread.
*/
void ec_master_thread_stop(ec_master_t *master /**< EtherCAT master */)
{
if (!master->thread_id) {
EC_WARN("ec_master_thread_stop: Already finished!\n");
return;
}
kill_proc(master->thread_id, SIGTERM, 1);
wait_for_completion(&master->thread_exit);
EC_INFO("Master thread exited.\n");
if (master->fsm_datagram.state != EC_DATAGRAM_SENT) return;
// wait for FSM datagram
while (get_cycles() - master->fsm_datagram.cycles_sent
< (cycles_t) EC_IO_TIMEOUT /* us */ * (cpu_khz / 1000))
schedule();
}
/*****************************************************************************/
/**
* Transition function from ORPHANED to IDLE mode.
*/
int ec_master_enter_idle_mode(ec_master_t *master /**< EtherCAT master */)
{
master->request_cb = ec_master_request_cb;
master->release_cb = ec_master_release_cb;
master->cb_data = master;
master->mode = EC_MASTER_MODE_IDLE;
if (ec_master_thread_start(master, ec_master_idle_thread)) {
master->mode = EC_MASTER_MODE_ORPHANED;
return -1;
}
return 0;
}
/*****************************************************************************/
/**
* Transition function from IDLE to ORPHANED mode.
*/
void ec_master_leave_idle_mode(ec_master_t *master /**< EtherCAT master */)
{
master->mode = EC_MASTER_MODE_ORPHANED;
#ifdef EC_EOE
ec_master_eoe_stop(master);
#endif
ec_master_thread_stop(master);
ec_master_destroy_slaves(master);
}
/*****************************************************************************/
/**
* Transition function from IDLE to OPERATION mode.
*/
int ec_master_enter_operation_mode(ec_master_t *master /**< EtherCAT master */)
{
ec_slave_t *slave;
#ifdef EC_EOE
ec_eoe_t *eoe;
#endif
down(&master->config_sem);
master->allow_config = 0; // temporarily disable slave configuration
up(&master->config_sem);
// wait for slave configuration to complete
if (wait_event_interruptible(master->config_queue,
master->config_state != EC_REQUEST_IN_PROGRESS)) {
EC_INFO("Finishing slave configuration interrupted by signal.\n");
goto out_allow;
}
if (master->debug_level)
EC_DBG("Waiting for pending slave configuration returned.\n");
if (master->debug_level)
EC_DBG("Disable scanning, current scan state: %u\n",
master->scan_state);
down(&master->scan_sem);
master->allow_scan = 0; // 'lock' the slave list
up(&master->scan_sem);
if (master->scan_state == EC_REQUEST_IN_PROGRESS) {
// wait for slave scan to complete
if (wait_event_interruptible(master->scan_queue,
master->scan_state != EC_REQUEST_IN_PROGRESS)) {
EC_INFO("Waiting for slave scan interrupted by signal.\n");
goto out_allow;
}
}
if (master->debug_level)
EC_DBG("Waiting for pending slave scan returned.\n");
// set states for all slaves
list_for_each_entry(slave, &master->slaves, list) {
ec_slave_request_state(slave, EC_SLAVE_STATE_PREOP);
}
#ifdef EC_EOE
// ... but set EoE slaves to OP
list_for_each_entry(eoe, &master->eoe_handlers, list) {
if (ec_eoe_is_open(eoe))
ec_slave_request_state(eoe->slave, EC_SLAVE_STATE_OP);
}
#endif
if (master->debug_level)
EC_DBG("Switching to operation mode.\n");
master->mode = EC_MASTER_MODE_OPERATION;
master->ext_request_cb = NULL;
master->ext_release_cb = NULL;
master->ext_cb_data = NULL;
return 0;
out_allow:
master->allow_scan = 1;
master->allow_config = 1;
return -1;
}
/*****************************************************************************/
/**
* Transition function from OPERATION to IDLE mode.
*/
void ec_master_leave_operation_mode(ec_master_t *master
/**< EtherCAT master */)
{
ec_slave_t *slave;
#ifdef EC_EOE
ec_eoe_t *eoe;
#endif
master->mode = EC_MASTER_MODE_IDLE;
#ifdef EC_EOE
ec_master_eoe_stop(master);
#endif
ec_master_thread_stop(master);
master->request_cb = ec_master_request_cb;
master->release_cb = ec_master_release_cb;
master->cb_data = master;
ec_master_destroy_slave_configs(master);
ec_master_destroy_domains(master);
// set states for all slaves
list_for_each_entry(slave, &master->slaves, list) {
ec_slave_request_state(slave, EC_SLAVE_STATE_PREOP);
}
#ifdef EC_EOE
// ... but leave EoE slaves in OP
list_for_each_entry(eoe, &master->eoe_handlers, list) {
if (ec_eoe_is_open(eoe))
ec_slave_request_state(eoe->slave, EC_SLAVE_STATE_OP);
}
#endif
if (ec_master_thread_start(master, ec_master_idle_thread))
EC_WARN("Failed to restart master thread!\n");
#ifdef EC_EOE
ec_master_eoe_start(master);
#endif
master->allow_scan = 1;
master->allow_config = 1;
}
/*****************************************************************************/
/**
Places a datagram in the datagram queue.
*/
void ec_master_queue_datagram(ec_master_t *master, /**< EtherCAT master */
ec_datagram_t *datagram /**< datagram */
)
{
ec_datagram_t *queued_datagram;
// check, if the datagram is already queued
list_for_each_entry(queued_datagram, &master->datagram_queue, queue) {
if (queued_datagram == datagram) {
datagram->skip_count++;
if (master->debug_level)
EC_DBG("skipping datagram %x.\n", (unsigned int) datagram);
datagram->state = EC_DATAGRAM_QUEUED;
return;
}
}
list_add_tail(&datagram->queue, &master->datagram_queue);
datagram->state = EC_DATAGRAM_QUEUED;
}
/*****************************************************************************/
/**
Sends the datagrams in the queue.
\return 0 in case of success, else < 0
*/
void ec_master_send_datagrams(ec_master_t *master /**< EtherCAT master */)
{
ec_datagram_t *datagram, *next;
size_t datagram_size;
uint8_t *frame_data, *cur_data;
void *follows_word;
cycles_t cycles_start, cycles_sent, cycles_end;
unsigned long jiffies_sent;
unsigned int frame_count, more_datagrams_waiting;
struct list_head sent_datagrams;
cycles_start = get_cycles();
frame_count = 0;
INIT_LIST_HEAD(&sent_datagrams);
if (unlikely(master->debug_level > 1))
EC_DBG("ec_master_send_datagrams\n");
do {
// fetch pointer to transmit socket buffer
frame_data = ec_device_tx_data(&master->main_device);
cur_data = frame_data + EC_FRAME_HEADER_SIZE;
follows_word = NULL;
more_datagrams_waiting = 0;
// fill current frame with datagrams
list_for_each_entry(datagram, &master->datagram_queue, queue) {
if (datagram->state != EC_DATAGRAM_QUEUED) continue;
// does the current datagram fit in the frame?
datagram_size = EC_DATAGRAM_HEADER_SIZE + datagram->data_size
+ EC_DATAGRAM_FOOTER_SIZE;
if (cur_data - frame_data + datagram_size > ETH_DATA_LEN) {
more_datagrams_waiting = 1;
break;
}
list_add_tail(&datagram->sent, &sent_datagrams);
datagram->index = master->datagram_index++;
if (unlikely(master->debug_level > 1))
EC_DBG("adding datagram 0x%02X\n", datagram->index);
// set "datagram following" flag in previous frame
if (follows_word)
EC_WRITE_U16(follows_word, EC_READ_U16(follows_word) | 0x8000);
// EtherCAT datagram header
EC_WRITE_U8 (cur_data, datagram->type);
EC_WRITE_U8 (cur_data + 1, datagram->index);
memcpy(cur_data + 2, datagram->address, EC_ADDR_LEN);
EC_WRITE_U16(cur_data + 6, datagram->data_size & 0x7FF);
EC_WRITE_U16(cur_data + 8, 0x0000);
follows_word = cur_data + 6;
cur_data += EC_DATAGRAM_HEADER_SIZE;
// EtherCAT datagram data
memcpy(cur_data, datagram->data, datagram->data_size);
cur_data += datagram->data_size;
// EtherCAT datagram footer
EC_WRITE_U16(cur_data, 0x0000); // reset working counter
cur_data += EC_DATAGRAM_FOOTER_SIZE;
}
if (list_empty(&sent_datagrams)) {
if (unlikely(master->debug_level > 1))
EC_DBG("nothing to send.\n");
break;
}
// EtherCAT frame header
EC_WRITE_U16(frame_data, ((cur_data - frame_data
- EC_FRAME_HEADER_SIZE) & 0x7FF) | 0x1000);
// pad frame
while (cur_data - frame_data < ETH_ZLEN - ETH_HLEN)
EC_WRITE_U8(cur_data++, 0x00);
if (unlikely(master->debug_level > 1))
EC_DBG("frame size: %i\n", cur_data - frame_data);
// send frame
ec_device_send(&master->main_device, cur_data - frame_data);
cycles_sent = get_cycles();
jiffies_sent = jiffies;
// set datagram states and sending timestamps
list_for_each_entry_safe(datagram, next, &sent_datagrams, sent) {
datagram->state = EC_DATAGRAM_SENT;
datagram->cycles_sent = cycles_sent;
datagram->jiffies_sent = jiffies_sent;
list_del_init(&datagram->sent); // empty list of sent datagrams
}
frame_count++;
}
while (more_datagrams_waiting);
if (unlikely(master->debug_level > 1)) {
cycles_end = get_cycles();
EC_DBG("ec_master_send_datagrams sent %i frames in %ius.\n",
frame_count,
(unsigned int) (cycles_end - cycles_start) * 1000 / cpu_khz);
}
}
/*****************************************************************************/
/**
Processes a received frame.
This function is called by the network driver for every received frame.
\return 0 in case of success, else < 0
*/
void ec_master_receive_datagrams(ec_master_t *master, /**< EtherCAT master */
const uint8_t *frame_data, /**< frame data */
size_t size /**< size of the received data */
)
{
size_t frame_size, data_size;
uint8_t datagram_type, datagram_index;
unsigned int cmd_follows, matched;
const uint8_t *cur_data;
ec_datagram_t *datagram;
if (unlikely(size < EC_FRAME_HEADER_SIZE)) {
master->stats.corrupted++;
ec_master_output_stats(master);
return;
}
cur_data = frame_data;
// check length of entire frame
frame_size = EC_READ_U16(cur_data) & 0x07FF;
cur_data += EC_FRAME_HEADER_SIZE;
if (unlikely(frame_size > size)) {
master->stats.corrupted++;
ec_master_output_stats(master);
return;
}
cmd_follows = 1;
while (cmd_follows) {
// process datagram header
datagram_type = EC_READ_U8 (cur_data);
datagram_index = EC_READ_U8 (cur_data + 1);
data_size = EC_READ_U16(cur_data + 6) & 0x07FF;
cmd_follows = EC_READ_U16(cur_data + 6) & 0x8000;
cur_data += EC_DATAGRAM_HEADER_SIZE;
if (unlikely(cur_data - frame_data
+ data_size + EC_DATAGRAM_FOOTER_SIZE > size)) {
master->stats.corrupted++;
ec_master_output_stats(master);
return;
}
// search for matching datagram in the queue
matched = 0;
list_for_each_entry(datagram, &master->datagram_queue, queue) {
if (datagram->index == datagram_index
&& datagram->state == EC_DATAGRAM_SENT
&& datagram->type == datagram_type
&& datagram->data_size == data_size) {
matched = 1;
break;
}
}
// no matching datagram was found
if (!matched) {
master->stats.unmatched++;
ec_master_output_stats(master);
if (unlikely(master->debug_level > 0)) {
EC_DBG("UNMATCHED datagram:\n");
ec_print_data(cur_data - EC_DATAGRAM_HEADER_SIZE,
EC_DATAGRAM_HEADER_SIZE + data_size
+ EC_DATAGRAM_FOOTER_SIZE);
#ifdef EC_DEBUG_RING
ec_device_debug_ring_print(&master->main_device);
#endif
}
cur_data += data_size + EC_DATAGRAM_FOOTER_SIZE;
continue;
}
// copy received data into the datagram memory
memcpy(datagram->data, cur_data, data_size);
cur_data += data_size;
// set the datagram's working counter
datagram->working_counter = EC_READ_U16(cur_data);
cur_data += EC_DATAGRAM_FOOTER_SIZE;
// dequeue the received datagram
datagram->state = EC_DATAGRAM_RECEIVED;
datagram->cycles_received = master->main_device.cycles_poll;
datagram->jiffies_received = master->main_device.jiffies_poll;
list_del_init(&datagram->queue);
}
}
/*****************************************************************************/
/**
Output statistics in cyclic mode.
This function outputs statistical data on demand, but not more often than
necessary. The output happens at most once a second.
*/
void ec_master_output_stats(ec_master_t *master /**< EtherCAT master */)
{
if (unlikely(jiffies - master->stats.output_jiffies >= HZ)) {
master->stats.output_jiffies = jiffies;
if (master->stats.timeouts) {
EC_WARN("%i datagram%s TIMED OUT!\n", master->stats.timeouts,
master->stats.timeouts == 1 ? "" : "s");
master->stats.timeouts = 0;
}
if (master->stats.corrupted) {
EC_WARN("%i frame%s CORRUPTED!\n", master->stats.corrupted,
master->stats.corrupted == 1 ? "" : "s");
master->stats.corrupted = 0;
}
if (master->stats.unmatched) {
EC_WARN("%i datagram%s UNMATCHED!\n", master->stats.unmatched,
master->stats.unmatched == 1 ? "" : "s");
master->stats.unmatched = 0;
}
}
}
/*****************************************************************************/
/**
* Master kernel thread function for IDLE mode.
*/
static int ec_master_idle_thread(ec_master_t *master)
{
cycles_t cycles_start, cycles_end;
daemonize("EtherCAT-IDLE");
allow_signal(SIGTERM);
while (!signal_pending(current)) {
cycles_start = get_cycles();
ec_datagram_output_stats(&master->fsm_datagram);
if (ec_fsm_master_running(&master->fsm)) { // datagram on the way
// receive
spin_lock_bh(&master->internal_lock);
ecrt_master_receive(master);
spin_unlock_bh(&master->internal_lock);
if (master->fsm_datagram.state == EC_DATAGRAM_SENT)
goto schedule;
}
// execute master state machine
if (ec_fsm_master_exec(&master->fsm)) { // datagram ready for sending
// queue and send
spin_lock_bh(&master->internal_lock);
ec_master_queue_datagram(master, &master->fsm_datagram);
ecrt_master_send(master);
spin_unlock_bh(&master->internal_lock);
}
cycles_end = get_cycles();
master->idle_cycle_times[master->idle_cycle_time_pos]
= (u32) (cycles_end - cycles_start) * 1000 / cpu_khz;
master->idle_cycle_time_pos++;
master->idle_cycle_time_pos %= HZ;
schedule:
if (ec_fsm_master_idle(&master->fsm)) {
set_current_state(TASK_INTERRUPTIBLE);
schedule_timeout(1);
}
else {
schedule();
}
}
master->thread_id = 0;
if (master->debug_level)
EC_DBG("Master IDLE thread exiting...\n");
complete_and_exit(&master->thread_exit, 0);
}
/*****************************************************************************/
/**
* Master kernel thread function for IDLE mode.
*/
static int ec_master_operation_thread(ec_master_t *master)
{
cycles_t cycles_start, cycles_end;
daemonize("EtherCAT-OP");
allow_signal(SIGTERM);
while (!signal_pending(current)) {
ec_datagram_output_stats(&master->fsm_datagram);
if (master->injection_seq_rt != master->injection_seq_fsm ||
master->fsm_datagram.state == EC_DATAGRAM_SENT ||
master->fsm_datagram.state == EC_DATAGRAM_QUEUED)
goto schedule;
cycles_start = get_cycles();
// output statistics
ec_master_output_stats(master);
// execute master state machine
if (ec_fsm_master_exec(&master->fsm)) {
// inject datagram
master->injection_seq_fsm++;
}
cycles_end = get_cycles();
master->idle_cycle_times[master->idle_cycle_time_pos]
= (u32) (cycles_end - cycles_start) * 1000 / cpu_khz;
master->idle_cycle_time_pos++;
master->idle_cycle_time_pos %= HZ;
schedule:
if (ec_fsm_master_idle(&master->fsm)) {
set_current_state(TASK_INTERRUPTIBLE);
schedule_timeout(1);
}
else {
schedule();
}
}
master->thread_id = 0;
if (master->debug_level)
EC_DBG("Master OP thread exiting...\n");
complete_and_exit(&master->thread_exit, 0);
}
/*****************************************************************************/
/**
* Prints the device information to a buffer.
* \return number of bytes written.
*/
ssize_t ec_master_device_info(
const ec_device_t *device, /**< EtherCAT device */
const uint8_t *mac, /**< MAC address */
char *buffer /**< target buffer */
)
{
unsigned int frames_lost;
off_t off = 0;
if (ec_mac_is_zero(mac)) {
off += sprintf(buffer + off, "none.\n");
}
else {
off += ec_mac_print(mac, buffer + off);
if (device->dev) {
off += sprintf(buffer + off, " (connected).\n");
off += sprintf(buffer + off, " Frames sent: %u\n",
device->tx_count);
off += sprintf(buffer + off, " Frames received: %u\n",
device->rx_count);
frames_lost = device->tx_count - device->rx_count;
if (frames_lost) frames_lost--;
off += sprintf(buffer + off, " Frames lost: %u\n", frames_lost);
}
else {
off += sprintf(buffer + off, " (WAITING).\n");
}
}
return off;
}
/*****************************************************************************/
/**
Formats master information for SysFS read access.
\return number of bytes written
*/
ssize_t ec_master_info(ec_master_t *master, /**< EtherCAT master */
char *buffer /**< memory to store data */
)
{
off_t off = 0;
#ifdef EC_EOE
ec_eoe_t *eoe;
#endif
uint32_t cur, sum, min, max, pos, i;
off += sprintf(buffer + off, "\nMode: ");
switch (master->mode) {
case EC_MASTER_MODE_ORPHANED:
off += sprintf(buffer + off, "ORPHANED");
break;
case EC_MASTER_MODE_IDLE:
off += sprintf(buffer + off, "IDLE");
break;
case EC_MASTER_MODE_OPERATION:
off += sprintf(buffer + off, "OPERATION");
break;
}
off += sprintf(buffer + off, "\nSlaves: %i\n",
master->slave_count);
off += sprintf(buffer + off, "Status: %s\n",
master->fsm.tainted ? "TAINTED" : "sane");
off += sprintf(buffer + off, "Pdo slaves: %s\n",
master->pdo_slaves_offline ? "INCOMPLETE" : "online");
off += sprintf(buffer + off, "\nDevices:\n");
down(&master->device_sem);
off += sprintf(buffer + off, " Main: ");
off += ec_master_device_info(&master->main_device,
master->main_mac, buffer + off);
off += sprintf(buffer + off, " Backup: ");
off += ec_master_device_info(&master->backup_device,
master->backup_mac, buffer + off);
up(&master->device_sem);
off += sprintf(buffer + off, "\nTiming (min/avg/max) [us]:\n");
sum = 0;
min = 0xFFFFFFFF;
max = 0;
pos = master->idle_cycle_time_pos;
for (i = 0; i < HZ; i++) {
cur = master->idle_cycle_times[(i + pos) % HZ];
sum += cur;
if (cur < min) min = cur;
if (cur > max) max = cur;
}
off += sprintf(buffer + off, " Idle cycle: %u / %u.%u / %u\n",
min, sum / HZ, (sum * 100 / HZ) % 100, max);
#ifdef EC_EOE
sum = 0;
min = 0xFFFFFFFF;
max = 0;
pos = master->eoe_cycle_time_pos;
for (i = 0; i < HZ; i++) {
cur = master->eoe_cycle_times[(i + pos) % HZ];
sum += cur;
if (cur < min) min = cur;
if (cur > max) max = cur;
}
off += sprintf(buffer + off, " EoE cycle: %u / %u.%u / %u\n",
min, sum / HZ, (sum * 100 / HZ) % 100, max);
if (!list_empty(&master->eoe_handlers))
off += sprintf(buffer + off, "\nEoE statistics (RX/TX) [bps]:\n");
list_for_each_entry(eoe, &master->eoe_handlers, list) {
off += sprintf(buffer + off, " %s: %u / %u (%u KB/s)\n",
eoe->dev->name, eoe->rx_rate, eoe->tx_rate,
((eoe->rx_rate + eoe->tx_rate) / 8 + 512) / 1024);
}
#endif
off += sprintf(buffer + off, "\n");
return off;
}
/*****************************************************************************/
/**
Formats attribute data for SysFS read access.
\return number of bytes to read
*/
ssize_t ec_show_master_attribute(struct kobject *kobj, /**< kobject */
struct attribute *attr, /**< attribute */
char *buffer /**< memory to store data */
)
{
ec_master_t *master = container_of(kobj, ec_master_t, kobj);
if (attr == &attr_info) {
return ec_master_info(master, buffer);
}
else if (attr == &attr_debug_level) {
return sprintf(buffer, "%i\n", master->debug_level);
}
return 0;
}
/*****************************************************************************/
/**
Formats attribute data for SysFS write access.
\return number of bytes processed, or negative error code
*/
ssize_t ec_store_master_attribute(struct kobject *kobj, /**< slave's kobject */
struct attribute *attr, /**< attribute */
const char *buffer, /**< memory with data */
size_t size /**< size of data to store */
)
{
ec_master_t *master = container_of(kobj, ec_master_t, kobj);
if (attr == &attr_debug_level) {
if (!strcmp(buffer, "0\n")) {
master->debug_level = 0;
}
else if (!strcmp(buffer, "1\n")) {
master->debug_level = 1;
}
else if (!strcmp(buffer, "2\n")) {
master->debug_level = 2;
}
else {
EC_ERR("Invalid debug level value!\n");
return -EINVAL;
}
EC_INFO("Master debug level set to %i.\n", master->debug_level);
return size;
}
return -EINVAL;
}
/*****************************************************************************/
#ifdef EC_EOE
/**
Starts Ethernet-over-EtherCAT processing on demand.
*/
void ec_master_eoe_start(ec_master_t *master /**< EtherCAT master */)
{
if (master->eoe_running) {
EC_WARN("EoE already running!\n");
return;
}
if (list_empty(&master->eoe_handlers))
return;
if (!master->request_cb || !master->release_cb) {
EC_WARN("No EoE processing because of missing locking callbacks!\n");
return;
}
EC_INFO("Starting EoE processing.\n");
master->eoe_running = 1;
// start EoE processing
master->eoe_timer.expires = jiffies + 10;
add_timer(&master->eoe_timer);
}
/*****************************************************************************/
/**
Stops the Ethernet-over-EtherCAT processing.
*/
void ec_master_eoe_stop(ec_master_t *master /**< EtherCAT master */)
{
if (!master->eoe_running) return;
EC_INFO("Stopping EoE processing.\n");
del_timer_sync(&master->eoe_timer);
master->eoe_running = 0;
}
/*****************************************************************************/
/**
Does the Ethernet-over-EtherCAT processing.
*/
void ec_master_eoe_run(unsigned long data /**< master pointer */)
{
ec_master_t *master = (ec_master_t *) data;
ec_eoe_t *eoe;
unsigned int none_open = 1;
cycles_t cycles_start, cycles_end;
unsigned long restart_jiffies;
list_for_each_entry(eoe, &master->eoe_handlers, list) {
if (ec_eoe_is_open(eoe)) {
none_open = 0;
break;
}
}
if (none_open)
goto queue_timer;
// receive datagrams
if (master->request_cb(master->cb_data)) goto queue_timer;
cycles_start = get_cycles();
ecrt_master_receive(master);
master->release_cb(master->cb_data);
// actual EoE processing
list_for_each_entry(eoe, &master->eoe_handlers, list) {
ec_eoe_run(eoe);
}
// send datagrams
if (master->request_cb(master->cb_data)) {
goto queue_timer;
}
list_for_each_entry(eoe, &master->eoe_handlers, list) {
ec_eoe_queue(eoe);
}
ecrt_master_send(master);
master->release_cb(master->cb_data);
cycles_end = get_cycles();
master->eoe_cycle_times[master->eoe_cycle_time_pos]
= (u32) (cycles_end - cycles_start) * 1000 / cpu_khz;
master->eoe_cycle_time_pos++;
master->eoe_cycle_time_pos %= HZ;
queue_timer:
restart_jiffies = HZ / EC_EOE_FREQUENCY;
if (!restart_jiffies) restart_jiffies = 1;
master->eoe_timer.expires = jiffies + restart_jiffies;
add_timer(&master->eoe_timer);
}
#endif
/*****************************************************************************/
/**
Prepares synchronous IO.
Queues all domain datagrams and sends them. Then waits a certain time, so
that ecrt_master_receive() can be called securely.
*/
void ec_master_prepare(ec_master_t *master /**< EtherCAT master */)
{
ec_domain_t *domain;
cycles_t cycles_start, cycles_end, cycles_timeout;
// queue datagrams of all domains
list_for_each_entry(domain, &master->domains, list)
ecrt_domain_queue(domain);
ecrt_master_send(master);
cycles_start = get_cycles();
cycles_timeout = (cycles_t) EC_IO_TIMEOUT /* us */ * (cpu_khz / 1000);
// active waiting
while (1) {
udelay(100);
cycles_end = get_cycles();
if (cycles_end - cycles_start >= cycles_timeout) break;
}
}
/*****************************************************************************/
/** Detaches the slave configurations from the slaves.
*/
void ec_master_detach_slave_configs(
ec_master_t *master /**< EtherCAT master. */
)
{
ec_slave_config_t *sc;
if (!master->configs_attached)
return;
list_for_each_entry(sc, &master->configs, list) {
ec_slave_config_detach(sc);
}
master->configs_attached = 0;
}
/*****************************************************************************/
/** Attaches the slave configurations to the slaves.
*/
int ec_master_attach_slave_configs(
ec_master_t *master /**< EtherCAT master. */
)
{
ec_slave_config_t *sc;
unsigned int errors = 0;
if (master->configs_attached)
return 0;
list_for_each_entry(sc, &master->configs, list) {
if (ec_slave_config_attach(sc))
errors = 1;
}
master->configs_attached = !errors;
return errors ? -1 : 0;
}
/******************************************************************************
* Realtime interface
*****************************************************************************/
ec_domain_t *ecrt_master_create_domain(ec_master_t *master /**< master */)
{
ec_domain_t *domain, *last_domain;
unsigned int index;
if (!(domain = (ec_domain_t *) kmalloc(sizeof(ec_domain_t), GFP_KERNEL))) {
EC_ERR("Error allocating domain memory!\n");
return NULL;
}
if (list_empty(&master->domains)) index = 0;
else {
last_domain = list_entry(master->domains.prev, ec_domain_t, list);
index = last_domain->index + 1;
}
if (ec_domain_init(domain, master, index)) {
EC_ERR("Failed to init domain.\n");
return NULL;
}
list_add_tail(&domain->list, &master->domains);
return domain;
}
/*****************************************************************************/
int ecrt_master_activate(ec_master_t *master)
{
uint32_t domain_offset;
ec_domain_t *domain;
// finish all domains
domain_offset = 0;
list_for_each_entry(domain, &master->domains, list) {
if (ec_domain_finish(domain, domain_offset)) {
EC_ERR("Failed to finish domain %X!\n", (u32) domain);
return -1;
}
domain_offset += domain->data_size;
}
// request slave configuration
down(&master->config_sem);
master->allow_config = 1; // request the current configuration
up(&master->config_sem);
if (master->main_device.link_state) {
// wait for configuration to complete
master->config_state = EC_REQUEST_IN_PROGRESS;
if (wait_event_interruptible(master->config_queue,
master->config_state != EC_REQUEST_IN_PROGRESS)) {
EC_INFO("Waiting for configuration interrupted by signal.\n");
return -1;
}
if (master->config_state != EC_REQUEST_COMPLETE) {
EC_ERR("Failed to configure slaves.\n");
return -1;
}
}
// restart EoE process and master thread with new locking
#ifdef EC_EOE
ec_master_eoe_stop(master);
#endif
ec_master_thread_stop(master);
ec_master_prepare(master); // prepare asynchronous IO
if (master->debug_level)
EC_DBG("FSM datagram is %x.\n", (unsigned int) &master->fsm_datagram);
master->injection_seq_fsm = 0;
master->injection_seq_rt = 0;
master->request_cb = master->ext_request_cb;
master->release_cb = master->ext_release_cb;
master->cb_data = master->ext_cb_data;
if (ec_master_thread_start(master, ec_master_operation_thread)) {
EC_ERR("Failed to start master thread!\n");
return -1;
}
#ifdef EC_EOE
ec_master_eoe_start(master);
#endif
return 0;
}
/*****************************************************************************/
void ecrt_master_send(ec_master_t *master)
{
ec_datagram_t *datagram, *n;
if (master->injection_seq_rt != master->injection_seq_fsm) {
// inject datagram produced by master FSM
ec_master_queue_datagram(master, &master->fsm_datagram);
master->injection_seq_rt = master->injection_seq_fsm;
}
if (unlikely(!master->main_device.link_state)) {
// link is down, no datagram can be sent
list_for_each_entry_safe(datagram, n, &master->datagram_queue, queue) {
datagram->state = EC_DATAGRAM_ERROR;
list_del_init(&datagram->queue);
}
// query link state
ec_device_poll(&master->main_device);
return;
}
// send frames
ec_master_send_datagrams(master);
}
/*****************************************************************************/
void ecrt_master_receive(ec_master_t *master)
{
ec_datagram_t *datagram, *next;
cycles_t cycles_timeout;
unsigned int frames_timed_out = 0;
// receive datagrams
ec_device_poll(&master->main_device);
cycles_timeout = (cycles_t) EC_IO_TIMEOUT /* us */ * (cpu_khz / 1000);
// dequeue all datagrams that timed out
list_for_each_entry_safe(datagram, next, &master->datagram_queue, queue) {
if (datagram->state != EC_DATAGRAM_SENT) continue;
if (master->main_device.cycles_poll - datagram->cycles_sent
> cycles_timeout) {
frames_timed_out = 1;
list_del_init(&datagram->queue);
datagram->state = EC_DATAGRAM_TIMED_OUT;
master->stats.timeouts++;
ec_master_output_stats(master);
if (unlikely(master->debug_level > 0)) {
EC_DBG("TIMED OUT datagram %08x, index %02X waited %u us.\n",
(unsigned int) datagram, datagram->index,
(unsigned int) (master->main_device.cycles_poll
- datagram->cycles_sent) * 1000 / cpu_khz);
}
}
}
master->frames_timed_out = frames_timed_out;
}
/*****************************************************************************/
ec_slave_config_t *ecrt_master_slave_config(ec_master_t *master,
uint16_t alias, uint16_t position, uint32_t vendor_id,
uint32_t product_code)
{
ec_slave_config_t *sc;
unsigned int found = 0;
list_for_each_entry(sc, &master->configs, list) {
if (sc->alias == alias && sc->position == position) {
found = 1;
break;
}
}
if (found) {
if (master->debug_level) {
EC_INFO("Using existing slave configuration for %u:%u\n",
alias, position);
}
if (sc->vendor_id != vendor_id || sc->product_code != product_code) {
EC_ERR("Slave type mismatch. Slave was configured as"
" 0x%08X/0x%08X before. Now configuring with"
" 0x%08X/0x%08X.\n", sc->vendor_id, sc->product_code,
vendor_id, product_code);
return NULL;
}
} else {
if (master->debug_level) {
EC_INFO("Creating slave configuration for %u:%u,"
" 0x%08X/0x%08X.\n", alias, position, vendor_id,
product_code);
}
if (!(sc = (ec_slave_config_t *) kmalloc(sizeof(ec_slave_config_t),
GFP_KERNEL))) {
EC_ERR("Failed to allocate memory for slave configuration.\n");
return NULL;
}
if (ec_slave_config_init(sc, master, alias, position, vendor_id,
product_code)) {
EC_ERR("Failed to init slave configuration.\n");
return NULL;
}
// try to find the addressed slave
ec_slave_config_attach(sc);
ec_slave_config_load_default_mapping(sc);
list_add_tail(&sc->list, &master->configs);
}
return sc;
}
/*****************************************************************************/
void ecrt_master_callbacks(ec_master_t *master, int (*request_cb)(void *),
void (*release_cb)(void *), void *cb_data)
{
master->ext_request_cb = request_cb;
master->ext_release_cb = release_cb;
master->ext_cb_data = cb_data;
}
/*****************************************************************************/
void ecrt_master_state(const ec_master_t *master, ec_master_state_t *state)
{
state->bus_state =
(master->pdo_slaves_offline || master->frames_timed_out)
? EC_BUS_FAILURE : EC_BUS_OK;
state->bus_tainted = master->fsm.tainted;
state->slaves_responding = master->fsm.slaves_responding;
}
/*****************************************************************************/
/** \cond */
EXPORT_SYMBOL(ecrt_master_create_domain);
EXPORT_SYMBOL(ecrt_master_activate);
EXPORT_SYMBOL(ecrt_master_send);
EXPORT_SYMBOL(ecrt_master_receive);
EXPORT_SYMBOL(ecrt_master_callbacks);
EXPORT_SYMBOL(ecrt_master_slave_config);
EXPORT_SYMBOL(ecrt_master_state);
/** \endcond */
/*****************************************************************************/