Internal SDO requests now synchronized with external requests.
Internal SDO requests are managed by master FSM and can conflict with
external requests managed by slave FSM. The internal SDO requests
includes SDO requests created by an application and external request are
typical created by EtherCAT Tool for SDO upload/download or a directory
fetch initiated with ethercat sdos command. The conflict will cause a
FPWR from an external request to be overwritten by a FPWR from an
internal SDO request (or oppersite) in the same "train" of datagrams.
/******************************************************************************
*
* $Id$
*
* Copyright (C) 2006-2008 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 version 2, as
* published by the Free Software Foundation.
*
* 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 license mentioned above concerns the source code only. Using the
* EtherCAT technology and brand is only permitted in compliance with the
* industrial property and similar rights of Beckhoff Automation GmbH.
*
*****************************************************************************/
/** \file
* EtherCAT master driver module.
*/
/*****************************************************************************/
#include <linux/module.h>
#include <linux/device.h>
#include <linux/err.h>
#include "globals.h"
#include "master.h"
#include "device.h"
/*****************************************************************************/
#define MAX_MASTERS 32 /**< Maximum number of masters. */
/*****************************************************************************/
int __init ec_init_module(void);
void __exit ec_cleanup_module(void);
static int ec_mac_parse(uint8_t *, const char *, int);
/*****************************************************************************/
static char *main_devices[MAX_MASTERS]; /**< Main devices parameter. */
static unsigned int master_count; /**< Number of masters. */
static char *backup_devices[MAX_MASTERS]; /**< Backup devices parameter. */
static unsigned int backup_count; /**< Number of backup devices. */
static unsigned int debug_level; /**< Debug level parameter. */
static ec_master_t *masters; /**< Array of masters. */
static struct semaphore master_sem; /**< Master semaphore. */
dev_t device_number; /**< Device number for master cdevs. */
struct class *class; /**< Device class. */
static uint8_t macs[MAX_MASTERS][2][ETH_ALEN]; /**< MAC addresses. */
char *ec_master_version_str = EC_MASTER_VERSION; /**< Version string. */
/*****************************************************************************/
/** \cond */
MODULE_AUTHOR("Florian Pose <fp@igh-essen.com>");
MODULE_DESCRIPTION("EtherCAT master driver module");
MODULE_LICENSE("GPL");
MODULE_VERSION(EC_MASTER_VERSION);
module_param_array(main_devices, charp, &master_count, S_IRUGO);
MODULE_PARM_DESC(main_devices, "MAC addresses of main devices");
module_param_array(backup_devices, charp, &backup_count, S_IRUGO);
MODULE_PARM_DESC(backup_devices, "MAC addresses of backup devices");
module_param_named(debug_level, debug_level, uint, S_IRUGO);
MODULE_PARM_DESC(debug_level, "Debug level");
/** \endcond */
/*****************************************************************************/
/** Module initialization.
*
* Initializes \a master_count masters.
* \return 0 on success, else < 0
*/
int __init ec_init_module(void)
{
int i, ret = 0;
EC_INFO("Master driver %s\n", EC_MASTER_VERSION);
sema_init(&master_sem, 1);
if (master_count) {
if (alloc_chrdev_region(&device_number,
0, master_count, "EtherCAT")) {
EC_ERR("Failed to obtain device number(s)!\n");
ret = -EBUSY;
goto out_return;
}
}
class = class_create(THIS_MODULE, "EtherCAT");
if (IS_ERR(class)) {
EC_ERR("Failed to create device class.\n");
ret = PTR_ERR(class);
goto out_cdev;
}
// zero MAC addresses
memset(macs, 0x00, sizeof(uint8_t) * MAX_MASTERS * 2 * ETH_ALEN);
// process MAC parameters
for (i = 0; i < master_count; i++) {
ret = ec_mac_parse(macs[i][0], main_devices[i], 0);
if (ret)
goto out_class;
if (i < backup_count) {
ret = ec_mac_parse(macs[i][1], backup_devices[i], 1);
if (ret)
goto out_class;
}
}
// initialize static master variables
ec_master_init_static();
if (master_count) {
if (!(masters = kmalloc(sizeof(ec_master_t) * master_count,
GFP_KERNEL))) {
EC_ERR("Failed to allocate memory"
" for EtherCAT masters.\n");
ret = -ENOMEM;
goto out_class;
}
}
for (i = 0; i < master_count; i++) {
ret = ec_master_init(&masters[i], i, macs[i][0], macs[i][1],
device_number, class, debug_level);
if (ret)
goto out_free_masters;
}
EC_INFO("%u master%s waiting for devices.\n",
master_count, (master_count == 1 ? "" : "s"));
return ret;
out_free_masters:
for (i--; i >= 0; i--)
ec_master_clear(&masters[i]);
kfree(masters);
out_class:
class_destroy(class);
out_cdev:
if (master_count)
unregister_chrdev_region(device_number, master_count);
out_return:
return ret;
}
/*****************************************************************************/
/** Module cleanup.
*
* Clears all master instances.
*/
void __exit ec_cleanup_module(void)
{
unsigned int i;
for (i = 0; i < master_count; i++) {
ec_master_clear(&masters[i]);
}
if (master_count)
kfree(masters);
class_destroy(class);
if (master_count)
unregister_chrdev_region(device_number, master_count);
EC_INFO("Master module cleaned up.\n");
}
/*****************************************************************************/
/** Get the number of masters.
*/
unsigned int ec_master_count(void)
{
return master_count;
}
/*****************************************************************************
* MAC address functions
****************************************************************************/
/**
* \return true, if two MAC addresses are equal.
*/
int ec_mac_equal(
const uint8_t *mac1, /**< First MAC address. */
const uint8_t *mac2 /**< Second MAC address. */
)
{
unsigned int i;
for (i = 0; i < ETH_ALEN; i++)
if (mac1[i] != mac2[i])
return 0;
return 1;
}
/*****************************************************************************/
/** Maximum MAC string size.
*/
#define EC_MAX_MAC_STRING_SIZE (3 * ETH_ALEN)
/** Print a MAC address to a buffer.
*
* The buffer size must be at least EC_MAX_MAC_STRING_SIZE.
*
* \return number of bytes written.
*/
ssize_t ec_mac_print(
const uint8_t *mac, /**< MAC address */
char *buffer /**< Target buffer. */
)
{
off_t off = 0;
unsigned int i;
for (i = 0; i < ETH_ALEN; i++) {
off += sprintf(buffer + off, "%02X", mac[i]);
if (i < ETH_ALEN - 1) off += sprintf(buffer + off, ":");
}
return off;
}
/*****************************************************************************/
/**
* \return true, if the MAC address is all-zero.
*/
int ec_mac_is_zero(
const uint8_t *mac /**< MAC address. */
)
{
unsigned int i;
for (i = 0; i < ETH_ALEN; i++)
if (mac[i])
return 0;
return 1;
}
/*****************************************************************************/
/**
* \return true, if the given MAC address is the broadcast address.
*/
int ec_mac_is_broadcast(
const uint8_t *mac /**< MAC address. */
)
{
unsigned int i;
for (i = 0; i < ETH_ALEN; i++)
if (mac[i] != 0xff)
return 0;
return 1;
}
/*****************************************************************************/
/** Parse a MAC address from a string.
*
* The MAC address must match the regular expression
* "([0-9a-fA-F]{2}:){5}[0-9a-fA-F]{2}".
*
* \return 0 on success, else < 0
*/
static int ec_mac_parse(uint8_t *mac, const char *src, int allow_empty)
{
unsigned int i, value;
const char *orig = src;
char *rem;
if (!strlen(src)) {
if (allow_empty){
return 0;
} else {
EC_ERR("MAC address may not be empty.\n");
return -EINVAL;
}
}
for (i = 0; i < ETH_ALEN; i++) {
value = simple_strtoul(src, &rem, 16);
if (rem != src + 2
|| value > 0xFF
|| (i < ETH_ALEN - 1 && *rem != ':')) {
EC_ERR("Invalid MAC address \"%s\".\n", orig);
return -EINVAL;
}
mac[i] = value;
if (i < ETH_ALEN - 1) {
src = rem + 1; // skip colon
}
}
return 0;
}
/*****************************************************************************/
/** Outputs frame contents for debugging purposes.
* If the data block is larger than 256 bytes, only the first 128
* and the last 128 bytes will be shown
*/
void ec_print_data(const uint8_t *data, /**< pointer to data */
size_t size /**< number of bytes to output */
)
{
unsigned int i;
EC_DBG("");
for (i = 0; i < size; i++) {
printk("%02X ", data[i]);
if ((i + 1) % 16 == 0 && i < size - 1) {
printk("\n");
EC_DBG("");
}
if (i + 1 == 128 && size > 256) {
printk("dropped %zu bytes\n", size - 128 - i);
i = size - 128;
EC_DBG("");
}
}
printk("\n");
}
/*****************************************************************************/
/** Outputs frame contents and differences for debugging purposes.
*/
void ec_print_data_diff(const uint8_t *d1, /**< first data */
const uint8_t *d2, /**< second data */
size_t size /** number of bytes to output */
)
{
unsigned int i;
EC_DBG("");
for (i = 0; i < size; i++) {
if (d1[i] == d2[i]) printk(".. ");
else printk("%02X ", d2[i]);
if ((i + 1) % 16 == 0) {
printk("\n");
EC_DBG("");
}
}
printk("\n");
}
/*****************************************************************************/
/** Prints slave states in clear text.
*
* \return Size of the created string.
*/
size_t ec_state_string(uint8_t states, /**< slave states */
char *buffer, /**< target buffer
(min. EC_STATE_STRING_SIZE bytes) */
uint8_t multi /**< Show multi-state mask. */
)
{
off_t off = 0;
unsigned int first = 1;
if (!states) {
off += sprintf(buffer + off, "(unknown)");
return off;
}
if (multi) { // multiple slaves
if (states & EC_SLAVE_STATE_INIT) {
off += sprintf(buffer + off, "INIT");
first = 0;
}
if (states & EC_SLAVE_STATE_PREOP) {
if (!first) off += sprintf(buffer + off, ", ");
off += sprintf(buffer + off, "PREOP");
first = 0;
}
if (states & EC_SLAVE_STATE_SAFEOP) {
if (!first) off += sprintf(buffer + off, ", ");
off += sprintf(buffer + off, "SAFEOP");
first = 0;
}
if (states & EC_SLAVE_STATE_OP) {
if (!first) off += sprintf(buffer + off, ", ");
off += sprintf(buffer + off, "OP");
}
} else { // single slave
if ((states & EC_SLAVE_STATE_MASK) == EC_SLAVE_STATE_INIT) {
off += sprintf(buffer + off, "INIT");
} else if ((states & EC_SLAVE_STATE_MASK) == EC_SLAVE_STATE_PREOP) {
off += sprintf(buffer + off, "PREOP");
} else if ((states & EC_SLAVE_STATE_MASK) == EC_SLAVE_STATE_BOOT) {
off += sprintf(buffer + off, "BOOT");
} else if ((states & EC_SLAVE_STATE_MASK) == EC_SLAVE_STATE_SAFEOP) {
off += sprintf(buffer + off, "SAFEOP");
} else if ((states & EC_SLAVE_STATE_MASK) == EC_SLAVE_STATE_OP) {
off += sprintf(buffer + off, "OP");
} else {
off += sprintf(buffer + off, "(invalid)");
}
first = 0;
}
if (states & EC_SLAVE_STATE_ACK_ERR) {
if (!first) off += sprintf(buffer + off, " + ");
off += sprintf(buffer + off, "ERROR");
}
return off;
}
/******************************************************************************
* Device interface
*****************************************************************************/
/** Device names.
*/
const char *ec_device_names[2] = {
"main",
"backup"
};
/** Offers an EtherCAT device to a certain master.
*
* The master decides, if it wants to use the device for EtherCAT operation,
* or not. It is important, that the offered net_device is not used by the
* kernel IP stack. If the master, accepted the offer, the address of the
* newly created EtherCAT device is returned, else \a NULL is returned.
*
* \return Pointer to device, if accepted, or NULL if declined.
* \ingroup DeviceInterface
*/
ec_device_t *ecdev_offer(
struct net_device *net_dev, /**< net_device to offer */
ec_pollfunc_t poll, /**< device poll function */
struct module *module /**< pointer to the module */
)
{
ec_master_t *master;
char str[EC_MAX_MAC_STRING_SIZE];
unsigned int i, dev_idx;
for (i = 0; i < master_count; i++) {
master = &masters[i];
ec_mac_print(net_dev->dev_addr, str);
if (down_interruptible(&master->device_sem)) {
EC_MASTER_WARN(master, "%s() interrupted!\n", __func__);
return NULL;
}
for (dev_idx = EC_DEVICE_MAIN;
dev_idx < ec_master_num_devices(master); dev_idx++) {
if (!master->devices[dev_idx].dev
&& (ec_mac_equal(master->macs[dev_idx], net_dev->dev_addr)
|| ec_mac_is_broadcast(master->macs[dev_idx]))) {
EC_INFO("Accepting %s as %s device for master %u.\n",
str, ec_device_names[dev_idx != 0], master->index);
ec_device_attach(&master->devices[dev_idx],
net_dev, poll, module);
up(&master->device_sem);
snprintf(net_dev->name, IFNAMSIZ, "ec%c%u",
ec_device_names[dev_idx != 0][0], master->index);
return &master->devices[dev_idx]; // offer accepted
}
}
up(&master->device_sem);
EC_MASTER_DBG(master, 1, "Master declined device %s.\n", str);
}
return NULL; // offer declined
}
/******************************************************************************
* Application interface
*****************************************************************************/
/** Request a master.
*
* Same as ecrt_request_master(), but with ERR_PTR() return value.
*
* \return Requested master.
*/
ec_master_t *ecrt_request_master_err(
unsigned int master_index /**< Master index. */
)
{
ec_master_t *master, *errptr = NULL;
unsigned int dev_idx = EC_DEVICE_MAIN;
EC_INFO("Requesting master %u...\n", master_index);
if (master_index >= master_count) {
EC_ERR("Invalid master index %u.\n", master_index);
errptr = ERR_PTR(-EINVAL);
goto out_return;
}
master = &masters[master_index];
if (down_interruptible(&master_sem)) {
errptr = ERR_PTR(-EINTR);
goto out_return;
}
if (master->reserved) {
up(&master_sem);
EC_MASTER_ERR(master, "Master already in use!\n");
errptr = ERR_PTR(-EBUSY);
goto out_return;
}
master->reserved = 1;
up(&master_sem);
if (down_interruptible(&master->device_sem)) {
errptr = ERR_PTR(-EINTR);
goto out_release;
}
if (master->phase != EC_IDLE) {
up(&master->device_sem);
EC_MASTER_ERR(master, "Master still waiting for devices!\n");
errptr = ERR_PTR(-ENODEV);
goto out_release;
}
for (; dev_idx < ec_master_num_devices(master); dev_idx++) {
ec_device_t *device = &master->devices[dev_idx];
if (!try_module_get(device->module)) {
up(&master->device_sem);
EC_MASTER_ERR(master, "Device module is unloading!\n");
errptr = ERR_PTR(-ENODEV);
goto out_module_put;
}
}
up(&master->device_sem);
if (ec_master_enter_operation_phase(master)) {
EC_MASTER_ERR(master, "Failed to enter OPERATION phase!\n");
errptr = ERR_PTR(-EIO);
goto out_module_put;
}
EC_INFO("Successfully requested master %u.\n", master_index);
return master;
out_module_put:
for (; dev_idx > 0; dev_idx--) {
ec_device_t *device = &master->devices[dev_idx - 1];
module_put(device->module);
}
out_release:
master->reserved = 0;
out_return:
return errptr;
}
/*****************************************************************************/
ec_master_t *ecrt_request_master(unsigned int master_index)
{
ec_master_t *master = ecrt_request_master_err(master_index);
return IS_ERR(master) ? NULL : master;
}
/*****************************************************************************/
void ecrt_release_master(ec_master_t *master)
{
unsigned int dev_idx;
EC_MASTER_INFO(master, "Releasing master...\n");
if (!master->reserved) {
EC_MASTER_WARN(master, "%s(): Master was was not requested!\n",
__func__);
return;
}
ec_master_leave_operation_phase(master);
for (dev_idx = EC_DEVICE_MAIN; dev_idx < ec_master_num_devices(master);
dev_idx++) {
module_put(master->devices[dev_idx].module);
}
master->reserved = 0;
EC_MASTER_INFO(master, "Released.\n");
}
/*****************************************************************************/
unsigned int ecrt_version_magic(void)
{
return ECRT_VERSION_MAGIC;
}
/*****************************************************************************/
/** Global request state type translation table.
*
* Translates an internal request state to an external one.
*/
const ec_request_state_t ec_request_state_translation_table[] = {
EC_REQUEST_UNUSED, // EC_INT_REQUEST_INIT,
EC_REQUEST_BUSY, // EC_INT_REQUEST_QUEUED,
EC_REQUEST_BUSY, // EC_INT_REQUEST_BUSY,
EC_REQUEST_SUCCESS, // EC_INT_REQUEST_SUCCESS,
EC_REQUEST_ERROR // EC_INT_REQUEST_FAILURE
};
/*****************************************************************************/
/** \cond */
module_init(ec_init_module);
module_exit(ec_cleanup_module);
EXPORT_SYMBOL(ecdev_offer);
EXPORT_SYMBOL(ecrt_request_master);
EXPORT_SYMBOL(ecrt_release_master);
EXPORT_SYMBOL(ecrt_version_magic);
/** \endcond */
/*****************************************************************************/