/******************************************************************************
*
* $Id$
*
* Copyright (C) 2006-2012 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.
*
* vim: expandtab
*
*****************************************************************************/
/**
\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 <linux/device.h>
#include <linux/version.h>
#include <linux/hrtimer.h>
#if LINUX_VERSION_CODE >= KERNEL_VERSION(4, 11, 0)
#include <linux/sched/types.h> // struct sched_param
#endif
#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"
/*****************************************************************************/
/** Set to 1 to enable external datagram injection debugging.
*/
#define DEBUG_INJECT 0
/** Always output corrupted frames.
*/
#define FORCE_OUTPUT_CORRUPTED 0
#ifdef EC_HAVE_CYCLES
/** Frame timeout in cycles.
*/
static cycles_t timeout_cycles;
/** Timeout for external datagram injection [cycles].
*/
static cycles_t ext_injection_timeout_cycles;
#else
/** Frame timeout in jiffies.
*/
static unsigned long timeout_jiffies;
/** Timeout for external datagram injection [jiffies].
*/
static unsigned long ext_injection_timeout_jiffies;
#endif
/** List of intervals for statistics [s].
*/
const unsigned int rate_intervals[] = {
1, 10, 60
};
/*****************************************************************************/
void ec_master_clear_slave_configs(ec_master_t *);
void ec_master_clear_domains(ec_master_t *);
static int ec_master_idle_thread(void *);
static int ec_master_operation_thread(void *);
#ifdef EC_EOE
static int ec_master_eoe_thread(void *);
#endif
void ec_master_find_dc_ref_clock(ec_master_t *);
void ec_master_clear_device_stats(ec_master_t *);
void ec_master_update_device_stats(ec_master_t *);
/*****************************************************************************/
/** Static variables initializer.
*/
void ec_master_init_static(void)
{
#ifdef EC_HAVE_CYCLES
timeout_cycles = (cycles_t) EC_IO_TIMEOUT /* us */ * (cpu_khz / 1000);
ext_injection_timeout_cycles =
(cycles_t) EC_SDO_INJECTION_TIMEOUT /* us */ * (cpu_khz / 1000);
#else
// one jiffy may always elapse between time measurement
timeout_jiffies = max(EC_IO_TIMEOUT * HZ / 1000000, 1);
ext_injection_timeout_jiffies =
max(EC_SDO_INJECTION_TIMEOUT * HZ / 1000000, 1);
#endif
}
/*****************************************************************************/
/**
Master constructor.
\return 0 in case of success, else < 0
*/
int ec_master_init(ec_master_t *master, /**< EtherCAT master */
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 */
dev_t device_number, /**< Character device number. */
struct class *class, /**< Device class. */
unsigned int debug_level /**< Debug level (module parameter). */
)
{
int ret;
unsigned int dev_idx, i;
master->index = index;
master->reserved = 0;
sema_init(&master->master_sem, 1);
for (dev_idx = EC_DEVICE_MAIN; dev_idx < EC_MAX_NUM_DEVICES; dev_idx++) {
master->macs[dev_idx] = NULL;
}
master->macs[EC_DEVICE_MAIN] = main_mac;
#if EC_MAX_NUM_DEVICES > 1
master->macs[EC_DEVICE_BACKUP] = backup_mac;
master->num_devices = 1 + !ec_mac_is_zero(backup_mac);
#else
if (!ec_mac_is_zero(backup_mac)) {
EC_MASTER_WARN(master, "Ignoring backup MAC address!");
}
#endif
ec_master_clear_device_stats(master);
sema_init(&master->device_sem, 1);
master->phase = EC_ORPHANED;
master->active = 0;
master->config_changed = 0;
master->injection_seq_fsm = 0;
master->injection_seq_rt = 0;
master->slaves = NULL;
master->slave_count = 0;
INIT_LIST_HEAD(&master->configs);
INIT_LIST_HEAD(&master->domains);
master->app_time = 0ULL;
master->app_start_time = 0ULL;
master->has_app_time = 0;
master->scan_busy = 0;
master->allow_scan = 1;
sema_init(&master->scan_sem, 1);
init_waitqueue_head(&master->scan_queue);
master->config_busy = 0;
sema_init(&master->config_sem, 1);
init_waitqueue_head(&master->config_queue);
INIT_LIST_HEAD(&master->datagram_queue);
master->datagram_index = 0;
INIT_LIST_HEAD(&master->ext_datagram_queue);
sema_init(&master->ext_queue_sem, 1);
master->ext_ring_idx_rt = 0;
master->ext_ring_idx_fsm = 0;
// init external datagram ring
for (i = 0; i < EC_EXT_RING_SIZE; i++) {
ec_datagram_t *datagram = &master->ext_datagram_ring[i];
ec_datagram_init(datagram);
snprintf(datagram->name, EC_DATAGRAM_NAME_SIZE, "ext-%u", i);
}
// send interval in IDLE phase
ec_master_set_send_interval(master, 1000000 / HZ);
master->fsm_slave = NULL;
INIT_LIST_HEAD(&master->fsm_exec_list);
master->fsm_exec_count = 0U;
master->debug_level = debug_level;
master->stats.timeouts = 0;
master->stats.corrupted = 0;
master->stats.unmatched = 0;
master->stats.output_jiffies = 0;
master->thread = NULL;
#ifdef EC_EOE
master->eoe_thread = NULL;
INIT_LIST_HEAD(&master->eoe_handlers);
#endif
sema_init(&master->io_sem, 1);
master->send_cb = NULL;
master->receive_cb = NULL;
master->cb_data = NULL;
master->app_send_cb = NULL;
master->app_receive_cb = NULL;
master->app_cb_data = NULL;
INIT_LIST_HEAD(&master->sii_requests);
INIT_LIST_HEAD(&master->emerg_reg_requests);
init_waitqueue_head(&master->request_queue);
// init devices
for (dev_idx = EC_DEVICE_MAIN; dev_idx < ec_master_num_devices(master);
dev_idx++) {
ret = ec_device_init(&master->devices[dev_idx], master);
if (ret < 0) {
goto out_clear_devices;
}
}
// init state machine datagram
ec_datagram_init(&master->fsm_datagram);
snprintf(master->fsm_datagram.name, EC_DATAGRAM_NAME_SIZE, "master-fsm");
ret = ec_datagram_prealloc(&master->fsm_datagram, EC_MAX_DATA_SIZE);
if (ret < 0) {
ec_datagram_clear(&master->fsm_datagram);
EC_MASTER_ERR(master, "Failed to allocate FSM datagram.\n");
goto out_clear_devices;
}
// create state machine object
ec_fsm_master_init(&master->fsm, master, &master->fsm_datagram);
// alloc external datagram ring
for (i = 0; i < EC_EXT_RING_SIZE; i++) {
ec_datagram_t *datagram = &master->ext_datagram_ring[i];
ret = ec_datagram_prealloc(datagram, EC_MAX_DATA_SIZE);
if (ret) {
EC_MASTER_ERR(master, "Failed to allocate external"
" datagram %u.\n", i);
goto out_clear_ext_datagrams;
}
}
// init reference sync datagram
ec_datagram_init(&master->ref_sync_datagram);
snprintf(master->ref_sync_datagram.name, EC_DATAGRAM_NAME_SIZE,
"refsync");
ret = ec_datagram_prealloc(&master->ref_sync_datagram, 4);
if (ret < 0) {
ec_datagram_clear(&master->ref_sync_datagram);
EC_MASTER_ERR(master, "Failed to allocate reference"
" synchronisation datagram.\n");
goto out_clear_ext_datagrams;
}
// init sync datagram
ec_datagram_init(&master->sync_datagram);
snprintf(master->sync_datagram.name, EC_DATAGRAM_NAME_SIZE, "sync");
ret = ec_datagram_prealloc(&master->sync_datagram, 4);
if (ret < 0) {
ec_datagram_clear(&master->sync_datagram);
EC_MASTER_ERR(master, "Failed to allocate"
" synchronisation datagram.\n");
goto out_clear_ref_sync;
}
// init sync monitor datagram
ec_datagram_init(&master->sync_mon_datagram);
snprintf(master->sync_mon_datagram.name, EC_DATAGRAM_NAME_SIZE,
"syncmon");
ret = ec_datagram_brd(&master->sync_mon_datagram, 0x092c, 4);
if (ret < 0) {
ec_datagram_clear(&master->sync_mon_datagram);
EC_MASTER_ERR(master, "Failed to allocate sync"
" monitoring datagram.\n");
goto out_clear_sync;
}
master->dc_ref_config = NULL;
master->dc_ref_clock = NULL;
// init character device
ret = ec_cdev_init(&master->cdev, master, device_number);
if (ret)
goto out_clear_sync_mon;
#if LINUX_VERSION_CODE >= KERNEL_VERSION(2, 6, 27)
master->class_device = device_create(class, NULL,
MKDEV(MAJOR(device_number), master->index), NULL,
"EtherCAT%u", master->index);
#elif LINUX_VERSION_CODE >= KERNEL_VERSION(2, 6, 26)
master->class_device = device_create(class, NULL,
MKDEV(MAJOR(device_number), master->index),
"EtherCAT%u", master->index);
#elif LINUX_VERSION_CODE >= KERNEL_VERSION(2, 6, 15)
master->class_device = class_device_create(class, NULL,
MKDEV(MAJOR(device_number), master->index), NULL,
"EtherCAT%u", master->index);
#else
master->class_device = class_device_create(class,
MKDEV(MAJOR(device_number), master->index), NULL,
"EtherCAT%u", master->index);
#endif
if (IS_ERR(master->class_device)) {
EC_MASTER_ERR(master, "Failed to create class device!\n");
ret = PTR_ERR(master->class_device);
goto out_clear_cdev;
}
#ifdef EC_RTDM
// init RTDM device
ret = ec_rtdm_dev_init(&master->rtdm_dev, master);
if (ret) {
goto out_unregister_class_device;
}
#endif
return 0;
#ifdef EC_RTDM
out_unregister_class_device:
#if LINUX_VERSION_CODE >= KERNEL_VERSION(2, 6, 26)
device_unregister(master->class_device);
#else
class_device_unregister(master->class_device);
#endif
#endif
out_clear_cdev:
ec_cdev_clear(&master->cdev);
out_clear_sync_mon:
ec_datagram_clear(&master->sync_mon_datagram);
out_clear_sync:
ec_datagram_clear(&master->sync_datagram);
out_clear_ref_sync:
ec_datagram_clear(&master->ref_sync_datagram);
out_clear_ext_datagrams:
for (i = 0; i < EC_EXT_RING_SIZE; i++) {
ec_datagram_clear(&master->ext_datagram_ring[i]);
}
ec_fsm_master_clear(&master->fsm);
ec_datagram_clear(&master->fsm_datagram);
out_clear_devices:
for (; dev_idx > 0; dev_idx--) {
ec_device_clear(&master->devices[dev_idx - 1]);
}
return ret;
}
/*****************************************************************************/
/** Destructor.
*/
void ec_master_clear(
ec_master_t *master /**< EtherCAT master */
)
{
unsigned int dev_idx, i;
#ifdef EC_RTDM
ec_rtdm_dev_clear(&master->rtdm_dev);
#endif
#if LINUX_VERSION_CODE >= KERNEL_VERSION(2, 6, 26)
device_unregister(master->class_device);
#else
class_device_unregister(master->class_device);
#endif
ec_cdev_clear(&master->cdev);
#ifdef EC_EOE
ec_master_clear_eoe_handlers(master);
#endif
ec_master_clear_domains(master);
ec_master_clear_slave_configs(master);
ec_master_clear_slaves(master);
ec_datagram_clear(&master->sync_mon_datagram);
ec_datagram_clear(&master->sync_datagram);
ec_datagram_clear(&master->ref_sync_datagram);
for (i = 0; i < EC_EXT_RING_SIZE; i++) {
ec_datagram_clear(&master->ext_datagram_ring[i]);
}
ec_fsm_master_clear(&master->fsm);
ec_datagram_clear(&master->fsm_datagram);
for (dev_idx = EC_DEVICE_MAIN; dev_idx < ec_master_num_devices(master);
dev_idx++) {
ec_device_clear(&master->devices[dev_idx]);
}
}
/*****************************************************************************/
#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
/*****************************************************************************/
/** Clear all slave configurations.
*/
void ec_master_clear_slave_configs(ec_master_t *master)
{
ec_slave_config_t *sc, *next;
master->dc_ref_config = NULL;
master->fsm.sdo_request = NULL; // mark sdo_request as invalid
list_for_each_entry_safe(sc, next, &master->configs, list) {
list_del(&sc->list);
ec_slave_config_clear(sc);
kfree(sc);
}
}
/*****************************************************************************/
/** Clear all slaves.
*/
void ec_master_clear_slaves(ec_master_t *master)
{
ec_slave_t *slave;
master->dc_ref_clock = NULL;
// External requests are obsolete, so we wake pending waiters and remove
// them from the list.
while (!list_empty(&master->sii_requests)) {
ec_sii_write_request_t *request =
list_entry(master->sii_requests.next,
ec_sii_write_request_t, list);
list_del_init(&request->list); // dequeue
EC_MASTER_WARN(master, "Discarding SII request, slave %u about"
" to be deleted.\n", request->slave->ring_position);
request->state = EC_INT_REQUEST_FAILURE;
wake_up_all(&master->request_queue);
}
master->fsm_slave = NULL;
INIT_LIST_HEAD(&master->fsm_exec_list);
master->fsm_exec_count = 0;
for (slave = master->slaves;
slave < master->slaves + master->slave_count;
slave++) {
ec_slave_clear(slave);
}
if (master->slaves) {
kfree(master->slaves);
master->slaves = NULL;
}
master->slave_count = 0;
}
/*****************************************************************************/
/** Clear all domains.
*/
void ec_master_clear_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_clear(domain);
kfree(domain);
}
}
/*****************************************************************************/
/** Clear the configuration applied by the application.
*/
void ec_master_clear_config(
ec_master_t *master /**< EtherCAT master. */
)
{
down(&master->master_sem);
ec_master_clear_domains(master);
ec_master_clear_slave_configs(master);
up(&master->master_sem);
}
/*****************************************************************************/
/** Internal sending callback.
*/
void ec_master_internal_send_cb(
void *cb_data /**< Callback data. */
)
{
ec_master_t *master = (ec_master_t *) cb_data;
down(&master->io_sem);
ecrt_master_send_ext(master);
up(&master->io_sem);
}
/*****************************************************************************/
/** Internal receiving callback.
*/
void ec_master_internal_receive_cb(
void *cb_data /**< Callback data. */
)
{
ec_master_t *master = (ec_master_t *) cb_data;
down(&master->io_sem);
ecrt_master_receive(master);
up(&master->io_sem);
}
/*****************************************************************************/
/** Starts the master thread.
*
* \retval 0 Success.
* \retval <0 Error code.
*/
int ec_master_thread_start(
ec_master_t *master, /**< EtherCAT master */
int (*thread_func)(void *), /**< thread function to start */
const char *name /**< Thread name. */
)
{
EC_MASTER_INFO(master, "Starting %s thread.\n", name);
master->thread = kthread_run(thread_func, master, name);
if (IS_ERR(master->thread)) {
int err = (int) PTR_ERR(master->thread);
EC_MASTER_ERR(master, "Failed to start master thread (error %i)!\n",
err);
master->thread = NULL;
return err;
}
return 0;
}
/*****************************************************************************/
/** Stops the master thread.
*/
void ec_master_thread_stop(
ec_master_t *master /**< EtherCAT master */
)
{
unsigned long sleep_jiffies;
if (!master->thread) {
EC_MASTER_WARN(master, "%s(): Already finished!\n", __func__);
return;
}
EC_MASTER_DBG(master, 1, "Stopping master thread.\n");
kthread_stop(master->thread);
master->thread = NULL;
EC_MASTER_INFO(master, "Master thread exited.\n");
if (master->fsm_datagram.state != EC_DATAGRAM_SENT) {
return;
}
// wait for FSM datagram
sleep_jiffies = max(HZ / 100, 1); // 10 ms, at least 1 jiffy
schedule_timeout(sleep_jiffies);
}
/*****************************************************************************/
/** Transition function from ORPHANED to IDLE phase.
*
* \return Zero on success, otherwise a negative error code.
*/
int ec_master_enter_idle_phase(
ec_master_t *master /**< EtherCAT master */
)
{
int ret;
ec_device_index_t dev_idx;
EC_MASTER_DBG(master, 1, "ORPHANED -> IDLE.\n");
master->send_cb = ec_master_internal_send_cb;
master->receive_cb = ec_master_internal_receive_cb;
master->cb_data = master;
master->phase = EC_IDLE;
// reset number of responding slaves to trigger scanning
for (dev_idx = EC_DEVICE_MAIN; dev_idx < ec_master_num_devices(master);
dev_idx++) {
master->fsm.slaves_responding[dev_idx] = 0;
}
ret = ec_master_thread_start(master, ec_master_idle_thread,
"EtherCAT-IDLE");
if (ret)
master->phase = EC_ORPHANED;
return ret;
}
/*****************************************************************************/
/** Transition function from IDLE to ORPHANED phase.
*/
void ec_master_leave_idle_phase(ec_master_t *master /**< EtherCAT master */)
{
EC_MASTER_DBG(master, 1, "IDLE -> ORPHANED.\n");
master->phase = EC_ORPHANED;
#ifdef EC_EOE
ec_master_eoe_stop(master);
#endif
ec_master_thread_stop(master);
down(&master->master_sem);
ec_master_clear_slaves(master);
up(&master->master_sem);
ec_fsm_master_reset(&master->fsm);
}
/*****************************************************************************/
/** Transition function from IDLE to OPERATION phase.
*
* \return Zero on success, otherwise a negative error code.
*/
int ec_master_enter_operation_phase(
ec_master_t *master /**< EtherCAT master */
)
{
int ret = 0;
ec_slave_t *slave;
#ifdef EC_EOE
ec_eoe_t *eoe;
#endif
EC_MASTER_DBG(master, 1, "IDLE -> OPERATION.\n");
down(&master->config_sem);
if (master->config_busy) {
up(&master->config_sem);
// wait for slave configuration to complete
ret = wait_event_interruptible(master->config_queue,
!master->config_busy);
if (ret) {
EC_MASTER_INFO(master, "Finishing slave configuration"
" interrupted by signal.\n");
goto out_return;
}
EC_MASTER_DBG(master, 1, "Waiting for pending slave"
" configuration returned.\n");
} else {
up(&master->config_sem);
}
down(&master->scan_sem);
master->allow_scan = 0; // 'lock' the slave list
if (!master->scan_busy) {
up(&master->scan_sem);
} else {
up(&master->scan_sem);
// wait for slave scan to complete
ret = wait_event_interruptible(master->scan_queue,
!master->scan_busy);
if (ret) {
EC_MASTER_INFO(master, "Waiting for slave scan"
" interrupted by signal.\n");
goto out_allow;
}
EC_MASTER_DBG(master, 1, "Waiting for pending"
" slave scan returned.\n");
}
// set states for all slaves
for (slave = master->slaves;
slave < master->slaves + master->slave_count;
slave++) {
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
master->phase = EC_OPERATION;
master->app_send_cb = NULL;
master->app_receive_cb = NULL;
master->app_cb_data = NULL;
return ret;
out_allow:
master->allow_scan = 1;
out_return:
return ret;
}
/*****************************************************************************/
/** Transition function from OPERATION to IDLE phase.
*/
void ec_master_leave_operation_phase(
ec_master_t *master /**< EtherCAT master */
)
{
if (master->active) {
ecrt_master_deactivate(master); // also clears config
} else {
ec_master_clear_config(master);
}
/* Re-allow scanning for IDLE phase. */
master->allow_scan = 1;
EC_MASTER_DBG(master, 1, "OPERATION -> IDLE.\n");
master->phase = EC_IDLE;
}
/*****************************************************************************/
/** Injects external datagrams that fit into the datagram queue.
*/
void ec_master_inject_external_datagrams(
ec_master_t *master /**< EtherCAT master */
)
{
ec_datagram_t *datagram;
size_t queue_size = 0, new_queue_size = 0;
#if DEBUG_INJECT
unsigned int datagram_count = 0;
#endif
if (master->ext_ring_idx_rt == master->ext_ring_idx_fsm) {
// nothing to inject
return;
}
list_for_each_entry(datagram, &master->datagram_queue, queue) {
if (datagram->state == EC_DATAGRAM_QUEUED) {
queue_size += datagram->data_size;
}
}
#if DEBUG_INJECT
EC_MASTER_DBG(master, 1, "Injecting datagrams, queue_size=%zu\n",
queue_size);
#endif
while (master->ext_ring_idx_rt != master->ext_ring_idx_fsm) {
datagram = &master->ext_datagram_ring[master->ext_ring_idx_rt];
if (datagram->state != EC_DATAGRAM_INIT) {
// skip datagram
master->ext_ring_idx_rt =
(master->ext_ring_idx_rt + 1) % EC_EXT_RING_SIZE;
continue;
}
new_queue_size = queue_size + datagram->data_size;
if (new_queue_size <= master->max_queue_size) {
#if DEBUG_INJECT
EC_MASTER_DBG(master, 1, "Injecting datagram %s"
" size=%zu, queue_size=%zu\n", datagram->name,
datagram->data_size, new_queue_size);
datagram_count++;
#endif
#ifdef EC_HAVE_CYCLES
datagram->cycles_sent = 0;
#endif
datagram->jiffies_sent = 0;
ec_master_queue_datagram(master, datagram);
queue_size = new_queue_size;
}
else if (datagram->data_size > master->max_queue_size) {
datagram->state = EC_DATAGRAM_ERROR;
EC_MASTER_ERR(master, "External datagram %s is too large,"
" size=%zu, max_queue_size=%zu\n",
datagram->name, datagram->data_size,
master->max_queue_size);
}
else { // datagram does not fit in the current cycle
#ifdef EC_HAVE_CYCLES
cycles_t cycles_now = get_cycles();
if (cycles_now - datagram->cycles_sent
> ext_injection_timeout_cycles)
#else
if (jiffies - datagram->jiffies_sent
> ext_injection_timeout_jiffies)
#endif
{
#if defined EC_RT_SYSLOG || DEBUG_INJECT
unsigned int time_us;
#endif
datagram->state = EC_DATAGRAM_ERROR;
#if defined EC_RT_SYSLOG || DEBUG_INJECT
#ifdef EC_HAVE_CYCLES
time_us = (unsigned int)
((cycles_now - datagram->cycles_sent) * 1000LL)
/ cpu_khz;
#else
time_us = (unsigned int)
((jiffies - datagram->jiffies_sent) * 1000000 / HZ);
#endif
EC_MASTER_ERR(master, "Timeout %u us: Injecting"
" external datagram %s size=%zu,"
" max_queue_size=%zu\n", time_us, datagram->name,
datagram->data_size, master->max_queue_size);
#endif
}
else {
#if DEBUG_INJECT
EC_MASTER_DBG(master, 1, "Deferred injecting"
" external datagram %s size=%u, queue_size=%u\n",
datagram->name, datagram->data_size, queue_size);
#endif
break;
}
}
master->ext_ring_idx_rt =
(master->ext_ring_idx_rt + 1) % EC_EXT_RING_SIZE;
}
#if DEBUG_INJECT
EC_MASTER_DBG(master, 1, "Injected %u datagrams.\n", datagram_count);
#endif
}
/*****************************************************************************/
/** Sets the expected interval between calls to ecrt_master_send
* and calculates the maximum amount of data to queue.
*/
void ec_master_set_send_interval(
ec_master_t *master, /**< EtherCAT master */
unsigned int send_interval /**< Send interval */
)
{
master->send_interval = send_interval;
master->max_queue_size =
(send_interval * 1000) / EC_BYTE_TRANSMISSION_TIME_NS;
master->max_queue_size -= master->max_queue_size / 10;
}
/*****************************************************************************/
/** Searches for a free datagram in the external datagram ring.
*
* \return Next free datagram, or NULL.
*/
ec_datagram_t *ec_master_get_external_datagram(
ec_master_t *master /**< EtherCAT master */
)
{
if ((master->ext_ring_idx_fsm + 1) % EC_EXT_RING_SIZE !=
master->ext_ring_idx_rt) {
ec_datagram_t *datagram =
&master->ext_datagram_ring[master->ext_ring_idx_fsm];
return datagram;
}
else {
return NULL;
}
}
/*****************************************************************************/
/** 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;
/* It is possible, that a datagram in the queue is re-initialized with the
* ec_datagram_<type>() methods and then shall be queued with this method.
* In that case, the state is already reset to EC_DATAGRAM_INIT. Check if
* the datagram is queued to avoid duplicate queuing (which results in an
* infinite loop!). Set the state to EC_DATAGRAM_QUEUED again, probably
* causing an unmatched datagram. */
list_for_each_entry(queued_datagram, &master->datagram_queue, queue) {
if (queued_datagram == datagram) {
datagram->skip_count++;
#ifdef EC_RT_SYSLOG
EC_MASTER_DBG(master, 1,
"Datagram %p already queued (skipping).\n", datagram);
#endif
datagram->state = EC_DATAGRAM_QUEUED;
return;
}
}
list_add_tail(&datagram->queue, &master->datagram_queue);
datagram->state = EC_DATAGRAM_QUEUED;
}
/*****************************************************************************/
/** Places a datagram in the non-application datagram queue.
*/
void ec_master_queue_datagram_ext(
ec_master_t *master, /**< EtherCAT master */
ec_datagram_t *datagram /**< datagram */
)
{
down(&master->ext_queue_sem);
list_add_tail(&datagram->queue, &master->ext_datagram_queue);
up(&master->ext_queue_sem);
}
/*****************************************************************************/
/** Sends the datagrams in the queue for a certain device.
*
*/
void ec_master_send_datagrams(
ec_master_t *master, /**< EtherCAT master */
ec_device_index_t device_index /**< Device index. */
)
{
ec_datagram_t *datagram, *next;
size_t datagram_size;
uint8_t *frame_data, *cur_data = NULL;
void *follows_word;
#ifdef EC_HAVE_CYCLES
cycles_t cycles_start, cycles_sent, cycles_end;
#endif
unsigned long jiffies_sent;
unsigned int frame_count, more_datagrams_waiting;
struct list_head sent_datagrams;
#ifdef EC_HAVE_CYCLES
cycles_start = get_cycles();
#endif
frame_count = 0;
INIT_LIST_HEAD(&sent_datagrams);
EC_MASTER_DBG(master, 2, "%s(device_index = %u)\n",
__func__, device_index);
do {
frame_data = NULL;
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 ||
datagram->device_index != device_index) {
continue;
}
if (!frame_data) {
// fetch pointer to transmit socket buffer
frame_data =
ec_device_tx_data(&master->devices[device_index]);
cur_data = frame_data + EC_FRAME_HEADER_SIZE;
}
// 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++;
EC_MASTER_DBG(master, 2, "Adding datagram 0x%02X\n",
datagram->index);
// set "datagram following" flag in previous datagram
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)) {
EC_MASTER_DBG(master, 2, "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);
EC_MASTER_DBG(master, 2, "frame size: %zu\n", cur_data - frame_data);
// send frame
ec_device_send(&master->devices[device_index],
cur_data - frame_data);
#ifdef EC_HAVE_CYCLES
cycles_sent = get_cycles();
#endif
jiffies_sent = jiffies;
// set datagram states and sending timestamps
list_for_each_entry_safe(datagram, next, &sent_datagrams, sent) {
datagram->state = EC_DATAGRAM_SENT;
#ifdef EC_HAVE_CYCLES
datagram->cycles_sent = cycles_sent;
#endif
datagram->jiffies_sent = jiffies_sent;
list_del_init(&datagram->sent); // empty list of sent datagrams
}
frame_count++;
}
while (more_datagrams_waiting);
#ifdef EC_HAVE_CYCLES
if (unlikely(master->debug_level > 1)) {
cycles_end = get_cycles();
EC_MASTER_DBG(master, 0, "%s()"
" sent %u frames in %uus.\n", __func__, frame_count,
(unsigned int) (cycles_end - cycles_start) * 1000 / cpu_khz);
}
#endif
}
/*****************************************************************************/
/** 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 */
ec_device_t *device, /**< EtherCAT device */
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)) {
if (master->debug_level || FORCE_OUTPUT_CORRUPTED) {
EC_MASTER_DBG(master, 0, "Corrupted frame received"
" on %s (size %zu < %u byte):\n",
device->dev->name, size, EC_FRAME_HEADER_SIZE);
ec_print_data(frame_data, size);
}
master->stats.corrupted++;
#ifdef EC_RT_SYSLOG
ec_master_output_stats(master);
#endif
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)) {
if (master->debug_level || FORCE_OUTPUT_CORRUPTED) {
EC_MASTER_DBG(master, 0, "Corrupted frame received"
" on %s (invalid frame size %zu for "
"received size %zu):\n", device->dev->name,
frame_size, size);
ec_print_data(frame_data, size);
}
master->stats.corrupted++;
#ifdef EC_RT_SYSLOG
ec_master_output_stats(master);
#endif
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)) {
if (master->debug_level || FORCE_OUTPUT_CORRUPTED) {
EC_MASTER_DBG(master, 0, "Corrupted frame received"
" on %s (invalid data size %zu):\n",
device->dev->name, data_size);
ec_print_data(frame_data, size);
}
master->stats.corrupted++;
#ifdef EC_RT_SYSLOG
ec_master_output_stats(master);
#endif
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++;
#ifdef EC_RT_SYSLOG
ec_master_output_stats(master);
#endif
if (unlikely(master->debug_level > 0)) {
EC_MASTER_DBG(master, 0, "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->devices[EC_DEVICE_MAIN]);
#endif
}
cur_data += data_size + EC_DATAGRAM_FOOTER_SIZE;
continue;
}
if (datagram->type != EC_DATAGRAM_APWR &&
datagram->type != EC_DATAGRAM_FPWR &&
datagram->type != EC_DATAGRAM_BWR &&
datagram->type != EC_DATAGRAM_LWR) {
// copy received data into the datagram memory,
// if something has been read
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;
#ifdef EC_HAVE_CYCLES
datagram->cycles_received =
master->devices[EC_DEVICE_MAIN].cycles_poll;
#endif
datagram->jiffies_received =
master->devices[EC_DEVICE_MAIN].jiffies_poll;
list_del_init(&datagram->queue);
}
}
/*****************************************************************************/
/** Output master statistics.
*
* 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_MASTER_WARN(master, "%u datagram%s TIMED OUT!\n",
master->stats.timeouts,
master->stats.timeouts == 1 ? "" : "s");
master->stats.timeouts = 0;
}
if (master->stats.corrupted) {
EC_MASTER_WARN(master, "%u frame%s CORRUPTED!\n",
master->stats.corrupted,
master->stats.corrupted == 1 ? "" : "s");
master->stats.corrupted = 0;
}
if (master->stats.unmatched) {
EC_MASTER_WARN(master, "%u datagram%s UNMATCHED!\n",
master->stats.unmatched,
master->stats.unmatched == 1 ? "" : "s");
master->stats.unmatched = 0;
}
}
}
/*****************************************************************************/
/** Clears the common device statistics.
*/
void ec_master_clear_device_stats(
ec_master_t *master /**< EtherCAT master */
)
{
unsigned int i;
// zero frame statistics
master->device_stats.tx_count = 0;
master->device_stats.last_tx_count = 0;
master->device_stats.rx_count = 0;
master->device_stats.last_rx_count = 0;
master->device_stats.tx_bytes = 0;
master->device_stats.last_tx_bytes = 0;
master->device_stats.rx_bytes = 0;
master->device_stats.last_rx_bytes = 0;
master->device_stats.last_loss = 0;
for (i = 0; i < EC_RATE_COUNT; i++) {
master->device_stats.tx_frame_rates[i] = 0;
master->device_stats.rx_frame_rates[i] = 0;
master->device_stats.tx_byte_rates[i] = 0;
master->device_stats.rx_byte_rates[i] = 0;
master->device_stats.loss_rates[i] = 0;
}
master->device_stats.jiffies = 0;
}
/*****************************************************************************/
/** Updates the common device statistics.
*/
void ec_master_update_device_stats(
ec_master_t *master /**< EtherCAT master */
)
{
ec_device_stats_t *s = &master->device_stats;
s32 tx_frame_rate, rx_frame_rate, tx_byte_rate, rx_byte_rate, loss_rate;
u64 loss;
unsigned int i, dev_idx;
// frame statistics
if (likely(jiffies - s->jiffies < HZ)) {
return;
}
tx_frame_rate = (s->tx_count - s->last_tx_count) * 1000;
rx_frame_rate = (s->rx_count - s->last_rx_count) * 1000;
tx_byte_rate = s->tx_bytes - s->last_tx_bytes;
rx_byte_rate = s->rx_bytes - s->last_rx_bytes;
loss = s->tx_count - s->rx_count;
loss_rate = (loss - s->last_loss) * 1000;
/* Low-pass filter:
* Y_n = y_(n - 1) + T / tau * (x - y_(n - 1)) | T = 1
* -> Y_n += (x - y_(n - 1)) / tau
*/
for (i = 0; i < EC_RATE_COUNT; i++) {
s32 n = rate_intervals[i];
s->tx_frame_rates[i] += (tx_frame_rate - s->tx_frame_rates[i]) / n;
s->rx_frame_rates[i] += (rx_frame_rate - s->rx_frame_rates[i]) / n;
s->tx_byte_rates[i] += (tx_byte_rate - s->tx_byte_rates[i]) / n;
s->rx_byte_rates[i] += (rx_byte_rate - s->rx_byte_rates[i]) / n;
s->loss_rates[i] += (loss_rate - s->loss_rates[i]) / n;
}
s->last_tx_count = s->tx_count;
s->last_rx_count = s->rx_count;
s->last_tx_bytes = s->tx_bytes;
s->last_rx_bytes = s->rx_bytes;
s->last_loss = loss;
for (dev_idx = EC_DEVICE_MAIN; dev_idx < ec_master_num_devices(master);
dev_idx++) {
ec_device_update_stats(&master->devices[dev_idx]);
}
s->jiffies = jiffies;
}
/*****************************************************************************/
#ifdef EC_USE_HRTIMER
/*
* Sleep related functions:
*/
static enum hrtimer_restart ec_master_nanosleep_wakeup(struct hrtimer *timer)
{
struct hrtimer_sleeper *t =
container_of(timer, struct hrtimer_sleeper, timer);
struct task_struct *task = t->task;
t->task = NULL;
if (task)
wake_up_process(task);
return HRTIMER_NORESTART;
}
/*****************************************************************************/
#if LINUX_VERSION_CODE < KERNEL_VERSION(2,6,28)
/* compatibility with new hrtimer interface */
static inline ktime_t hrtimer_get_expires(const struct hrtimer *timer)
{
return timer->expires;
}
/*****************************************************************************/
static inline void hrtimer_set_expires(struct hrtimer *timer, ktime_t time)
{
timer->expires = time;
}
#endif
/*****************************************************************************/
void ec_master_nanosleep(const unsigned long nsecs)
{
struct hrtimer_sleeper t;
enum hrtimer_mode mode = HRTIMER_MODE_REL;
hrtimer_init(&t.timer, CLOCK_MONOTONIC, mode);
t.timer.function = ec_master_nanosleep_wakeup;
t.task = current;
#ifdef CONFIG_HIGH_RES_TIMERS
#if LINUX_VERSION_CODE <= KERNEL_VERSION(2, 6, 24)
t.timer.cb_mode = HRTIMER_CB_IRQSAFE_NO_RESTART;
#elif LINUX_VERSION_CODE <= KERNEL_VERSION(2, 6, 26)
t.timer.cb_mode = HRTIMER_CB_IRQSAFE_NO_SOFTIRQ;
#elif LINUX_VERSION_CODE <= KERNEL_VERSION(2, 6, 28)
t.timer.cb_mode = HRTIMER_CB_IRQSAFE_UNLOCKED;
#endif
#endif
hrtimer_set_expires(&t.timer, ktime_set(0, nsecs));
do {
set_current_state(TASK_INTERRUPTIBLE);
hrtimer_start(&t.timer, hrtimer_get_expires(&t.timer), mode);
if (likely(t.task))
schedule();
hrtimer_cancel(&t.timer);
mode = HRTIMER_MODE_ABS;
} while (t.task && !signal_pending(current));
}
#endif // EC_USE_HRTIMER
/*****************************************************************************/
/** Execute slave FSMs.
*/
void ec_master_exec_slave_fsms(
ec_master_t *master /**< EtherCAT master. */
)
{
ec_datagram_t *datagram;
ec_fsm_slave_t *fsm, *next;
unsigned int count = 0;
list_for_each_entry_safe(fsm, next, &master->fsm_exec_list, list) {
if (!fsm->datagram) {
EC_MASTER_WARN(master, "Slave %u FSM has zero datagram."
"This is a bug!\n", fsm->slave->ring_position);
list_del_init(&fsm->list);
master->fsm_exec_count--;
return;
}
if (fsm->datagram->state == EC_DATAGRAM_INIT ||
fsm->datagram->state == EC_DATAGRAM_QUEUED ||
fsm->datagram->state == EC_DATAGRAM_SENT) {
// previous datagram was not sent or received yet.
// wait until next thread execution
return;
}
datagram = ec_master_get_external_datagram(master);
if (!datagram) {
// no free datagrams at the moment
EC_MASTER_WARN(master, "No free datagram during"
" slave FSM execution. This is a bug!\n");
continue;
}
#if DEBUG_INJECT
EC_MASTER_DBG(master, 1, "Executing slave %u FSM.\n",
fsm->slave->ring_position);
#endif
if (ec_fsm_slave_exec(fsm, datagram)) {
// FSM consumed datagram
#if DEBUG_INJECT
EC_MASTER_DBG(master, 1, "FSM consumed datagram %s\n",
datagram->name);
#endif
master->ext_ring_idx_fsm =
(master->ext_ring_idx_fsm + 1) % EC_EXT_RING_SIZE;
}
else {
// FSM finished
list_del_init(&fsm->list);
master->fsm_exec_count--;
#if DEBUG_INJECT
EC_MASTER_DBG(master, 1, "FSM finished. %u remaining.\n",
master->fsm_exec_count);
#endif
}
}
while (master->fsm_exec_count < EC_EXT_RING_SIZE / 2
&& count < master->slave_count) {
if (ec_fsm_slave_is_ready(&master->fsm_slave->fsm)) {
datagram = ec_master_get_external_datagram(master);
if (ec_fsm_slave_exec(&master->fsm_slave->fsm, datagram)) {
master->ext_ring_idx_fsm =
(master->ext_ring_idx_fsm + 1) % EC_EXT_RING_SIZE;
list_add_tail(&master->fsm_slave->fsm.list,
&master->fsm_exec_list);
master->fsm_exec_count++;
#if DEBUG_INJECT
EC_MASTER_DBG(master, 1, "New slave %u FSM"
" consumed datagram %s, now %u FSMs in list.\n",
master->fsm_slave->ring_position, datagram->name,
master->fsm_exec_count);
#endif
}
}
master->fsm_slave++;
if (master->fsm_slave >= master->slaves + master->slave_count) {
master->fsm_slave = master->slaves;
}
count++;
}
}
/*****************************************************************************/
/** Master kernel thread function for IDLE phase.
*/
static int ec_master_idle_thread(void *priv_data)
{
ec_master_t *master = (ec_master_t *) priv_data;
int fsm_exec;
#ifdef EC_USE_HRTIMER
size_t sent_bytes;
#endif
// send interval in IDLE phase
ec_master_set_send_interval(master, 1000000 / HZ);
EC_MASTER_DBG(master, 1, "Idle thread running with send interval = %u us,"
" max data size=%zu\n", master->send_interval,
master->max_queue_size);
while (!kthread_should_stop()) {
ec_datagram_output_stats(&master->fsm_datagram);
// receive
down(&master->io_sem);
ecrt_master_receive(master);
up(&master->io_sem);
// execute master & slave state machines
if (down_interruptible(&master->master_sem)) {
break;
}
fsm_exec = ec_fsm_master_exec(&master->fsm);
ec_master_exec_slave_fsms(master);
up(&master->master_sem);
// queue and send
down(&master->io_sem);
if (fsm_exec) {
ec_master_queue_datagram(master, &master->fsm_datagram);
}
ecrt_master_send(master);
#ifdef EC_USE_HRTIMER
sent_bytes = master->devices[EC_DEVICE_MAIN].tx_skb[
master->devices[EC_DEVICE_MAIN].tx_ring_index]->len;
#endif
up(&master->io_sem);
if (ec_fsm_master_idle(&master->fsm)) {
#ifdef EC_USE_HRTIMER
ec_master_nanosleep(master->send_interval * 1000);
#else
set_current_state(TASK_INTERRUPTIBLE);
schedule_timeout(1);
#endif
} else {
#ifdef EC_USE_HRTIMER
ec_master_nanosleep(sent_bytes * EC_BYTE_TRANSMISSION_TIME_NS);
#else
schedule();
#endif
}
}
EC_MASTER_DBG(master, 1, "Master IDLE thread exiting...\n");
return 0;
}
/*****************************************************************************/
/** Master kernel thread function for OPERATION phase.
*/
static int ec_master_operation_thread(void *priv_data)
{
ec_master_t *master = (ec_master_t *) priv_data;
EC_MASTER_DBG(master, 1, "Operation thread running"
" with fsm interval = %u us, max data size=%zu\n",
master->send_interval, master->max_queue_size);
while (!kthread_should_stop()) {
ec_datagram_output_stats(&master->fsm_datagram);
if (master->injection_seq_rt == master->injection_seq_fsm) {
// output statistics
ec_master_output_stats(master);
// execute master & slave state machines
if (down_interruptible(&master->master_sem)) {
break;
}
if (ec_fsm_master_exec(&master->fsm)) {
// Inject datagrams (let the RT thread queue them, see
// ecrt_master_send())
master->injection_seq_fsm++;
}
ec_master_exec_slave_fsms(master);
up(&master->master_sem);
}
#ifdef EC_USE_HRTIMER
// the op thread should not work faster than the sending RT thread
ec_master_nanosleep(master->send_interval * 1000);
#else
if (ec_fsm_master_idle(&master->fsm)) {
set_current_state(TASK_INTERRUPTIBLE);
schedule_timeout(1);
}
else {
schedule();
}
#endif
}
EC_MASTER_DBG(master, 1, "Master OP thread exiting...\n");
return 0;
}
/*****************************************************************************/
#ifdef EC_EOE
/** Starts Ethernet over EtherCAT processing on demand.
*/
void ec_master_eoe_start(ec_master_t *master /**< EtherCAT master */)
{
struct sched_param param = { .sched_priority = 0 };
if (master->eoe_thread) {
EC_MASTER_WARN(master, "EoE already running!\n");
return;
}
if (list_empty(&master->eoe_handlers))
return;
if (!master->send_cb || !master->receive_cb) {
EC_MASTER_WARN(master, "No EoE processing"
" because of missing callbacks!\n");
return;
}
EC_MASTER_INFO(master, "Starting EoE thread.\n");
master->eoe_thread = kthread_run(ec_master_eoe_thread, master,
"EtherCAT-EoE");
if (IS_ERR(master->eoe_thread)) {
int err = (int) PTR_ERR(master->eoe_thread);
EC_MASTER_ERR(master, "Failed to start EoE thread (error %i)!\n",
err);
master->eoe_thread = NULL;
return;
}
sched_setscheduler(master->eoe_thread, SCHED_NORMAL, ¶m);
set_user_nice(master->eoe_thread, 0);
}
/*****************************************************************************/
/** Stops the Ethernet over EtherCAT processing.
*/
void ec_master_eoe_stop(ec_master_t *master /**< EtherCAT master */)
{
if (master->eoe_thread) {
EC_MASTER_INFO(master, "Stopping EoE thread.\n");
kthread_stop(master->eoe_thread);
master->eoe_thread = NULL;
EC_MASTER_INFO(master, "EoE thread exited.\n");
}
}
/*****************************************************************************/
/** Does the Ethernet over EtherCAT processing.
*/
static int ec_master_eoe_thread(void *priv_data)
{
ec_master_t *master = (ec_master_t *) priv_data;
ec_eoe_t *eoe;
unsigned int none_open, sth_to_send, all_idle;
EC_MASTER_DBG(master, 1, "EoE thread running.\n");
while (!kthread_should_stop()) {
none_open = 1;
all_idle = 1;
list_for_each_entry(eoe, &master->eoe_handlers, list) {
if (ec_eoe_is_open(eoe)) {
none_open = 0;
break;
}
}
if (none_open)
goto schedule;
// receive datagrams
master->receive_cb(master->cb_data);
// actual EoE processing
sth_to_send = 0;
list_for_each_entry(eoe, &master->eoe_handlers, list) {
ec_eoe_run(eoe);
if (eoe->queue_datagram) {
sth_to_send = 1;
}
if (!ec_eoe_is_idle(eoe)) {
all_idle = 0;
}
}
if (sth_to_send) {
list_for_each_entry(eoe, &master->eoe_handlers, list) {
ec_eoe_queue(eoe);
}
// (try to) send datagrams
down(&master->ext_queue_sem);
master->send_cb(master->cb_data);
up(&master->ext_queue_sem);
}
schedule:
if (all_idle) {
set_current_state(TASK_INTERRUPTIBLE);
schedule_timeout(1);
} else {
schedule();
}
}
EC_MASTER_DBG(master, 1, "EoE thread exiting...\n");
return 0;
}
#endif
/*****************************************************************************/
/** Attaches the slave configurations to the slaves.
*/
void ec_master_attach_slave_configs(
ec_master_t *master /**< EtherCAT master. */
)
{
ec_slave_config_t *sc;
list_for_each_entry(sc, &master->configs, list) {
ec_slave_config_attach(sc);
}
}
/*****************************************************************************/
/** Common implementation for ec_master_find_slave()
* and ec_master_find_slave_const().
*/
#define EC_FIND_SLAVE \
do { \
if (alias) { \
for (; slave < master->slaves + master->slave_count; \
slave++) { \
if (slave->effective_alias == alias) \
break; \
} \
if (slave == master->slaves + master->slave_count) \
return NULL; \
} \
\
slave += position; \
if (slave < master->slaves + master->slave_count) { \
return slave; \
} else { \
return NULL; \
} \
} while (0)
/** Finds a slave in the bus, given the alias and position.
*
* \return Search result, or NULL.
*/
ec_slave_t *ec_master_find_slave(
ec_master_t *master, /**< EtherCAT master. */
uint16_t alias, /**< Slave alias. */
uint16_t position /**< Slave position. */
)
{
ec_slave_t *slave = master->slaves;
EC_FIND_SLAVE;
}
/** Finds a slave in the bus, given the alias and position.
*
* Const version.
*
* \return Search result, or NULL.
*/
const ec_slave_t *ec_master_find_slave_const(
const ec_master_t *master, /**< EtherCAT master. */
uint16_t alias, /**< Slave alias. */
uint16_t position /**< Slave position. */
)
{
const ec_slave_t *slave = master->slaves;
EC_FIND_SLAVE;
}
/*****************************************************************************/
/** Get the number of slave configurations provided by the application.
*
* \return Number of configurations.
*/
unsigned int ec_master_config_count(
const ec_master_t *master /**< EtherCAT master. */
)
{
const ec_slave_config_t *sc;
unsigned int count = 0;
list_for_each_entry(sc, &master->configs, list) {
count++;
}
return count;
}
/*****************************************************************************/
/** Common implementation for ec_master_get_config()
* and ec_master_get_config_const().
*/
#define EC_FIND_CONFIG \
do { \
list_for_each_entry(sc, &master->configs, list) { \
if (pos--) \
continue; \
return sc; \
} \
return NULL; \
} while (0)
/** Get a slave configuration via its position in the list.
*
* \return Slave configuration or \a NULL.
*/
ec_slave_config_t *ec_master_get_config(
const ec_master_t *master, /**< EtherCAT master. */
unsigned int pos /**< List position. */
)
{
ec_slave_config_t *sc;
EC_FIND_CONFIG;
}
/** Get a slave configuration via its position in the list.
*
* Const version.
*
* \return Slave configuration or \a NULL.
*/
const ec_slave_config_t *ec_master_get_config_const(
const ec_master_t *master, /**< EtherCAT master. */
unsigned int pos /**< List position. */
)
{
const ec_slave_config_t *sc;
EC_FIND_CONFIG;
}
/*****************************************************************************/
/** Get the number of domains.
*
* \return Number of domains.
*/
unsigned int ec_master_domain_count(
const ec_master_t *master /**< EtherCAT master. */
)
{
const ec_domain_t *domain;
unsigned int count = 0;
list_for_each_entry(domain, &master->domains, list) {
count++;
}
return count;
}
/*****************************************************************************/
/** Common implementation for ec_master_find_domain() and
* ec_master_find_domain_const().
*/
#define EC_FIND_DOMAIN \
do { \
list_for_each_entry(domain, &master->domains, list) { \
if (index--) \
continue; \
return domain; \
} \
\
return NULL; \
} while (0)
/** Get a domain via its position in the list.
*
* \return Domain pointer, or \a NULL if not found.
*/
ec_domain_t *ec_master_find_domain(
ec_master_t *master, /**< EtherCAT master. */
unsigned int index /**< Domain index. */
)
{
ec_domain_t *domain;
EC_FIND_DOMAIN;
}
/** Get a domain via its position in the list.
*
* Const version.
*
* \return Domain pointer, or \a NULL if not found.
*/
const ec_domain_t *ec_master_find_domain_const(
const ec_master_t *master, /**< EtherCAT master. */
unsigned int index /**< Domain index. */
)
{
const ec_domain_t *domain;
EC_FIND_DOMAIN;
}
/*****************************************************************************/
#ifdef EC_EOE
/** Get the number of EoE handlers.
*
* \return Number of EoE handlers.
*/
uint16_t ec_master_eoe_handler_count(
const ec_master_t *master /**< EtherCAT master. */
)
{
const ec_eoe_t *eoe;
unsigned int count = 0;
list_for_each_entry(eoe, &master->eoe_handlers, list) {
count++;
}
return count;
}
/*****************************************************************************/
/** Get an EoE handler via its position in the list.
*
* Const version.
*
* \return EoE handler pointer, or \a NULL if not found.
*/
const ec_eoe_t *ec_master_get_eoe_handler_const(
const ec_master_t *master, /**< EtherCAT master. */
uint16_t index /**< EoE handler index. */
)
{
const ec_eoe_t *eoe;
list_for_each_entry(eoe, &master->eoe_handlers, list) {
if (index--)
continue;
return eoe;
}
return NULL;
}
#endif
/*****************************************************************************/
/** Set the debug level.
*
* \retval 0 Success.
* \retval -EINVAL Invalid debug level.
*/
int ec_master_debug_level(
ec_master_t *master, /**< EtherCAT master. */
unsigned int level /**< Debug level. May be 0, 1 or 2. */
)
{
if (level > 2) {
EC_MASTER_ERR(master, "Invalid debug level %u!\n", level);
return -EINVAL;
}
if (level != master->debug_level) {
master->debug_level = level;
EC_MASTER_INFO(master, "Master debug level set to %u.\n",
master->debug_level);
}
return 0;
}
/*****************************************************************************/
/** Finds the DC reference clock.
*/
void ec_master_find_dc_ref_clock(
ec_master_t *master /**< EtherCAT master. */
)
{
ec_slave_t *slave, *ref = NULL;
if (master->dc_ref_config) {
// Use application-selected reference clock
slave = master->dc_ref_config->slave;
if (slave) {
if (slave->base_dc_supported && slave->has_dc_system_time) {
ref = slave;
}
else {
EC_MASTER_WARN(master, "Slave %u can not act as a"
" DC reference clock!", slave->ring_position);
}
}
else {
EC_MASTER_WARN(master, "DC reference clock config (%u-%u)"
" has no slave attached!\n", master->dc_ref_config->alias,
master->dc_ref_config->position);
}
}
else {
// Use first slave with DC support as reference clock
for (slave = master->slaves;
slave < master->slaves + master->slave_count;
slave++) {
if (slave->base_dc_supported && slave->has_dc_system_time) {
ref = slave;
break;
}
}
}
master->dc_ref_clock = ref;
if (ref) {
EC_MASTER_INFO(master, "Using slave %u as DC reference clock.\n",
ref->ring_position);
}
else {
EC_MASTER_INFO(master, "No DC reference clock found.\n");
}
// These calls always succeed, because the
// datagrams have been pre-allocated.
ec_datagram_fpwr(&master->ref_sync_datagram,
ref ? ref->station_address : 0xffff, 0x0910, 4);
ec_datagram_frmw(&master->sync_datagram,
ref ? ref->station_address : 0xffff, 0x0910, 4);
}
/*****************************************************************************/
/** Calculates the bus topology; recursion function.
*
* \return Zero on success, otherwise a negative error code.
*/
int ec_master_calc_topology_rec(
ec_master_t *master, /**< EtherCAT master. */
ec_slave_t *port0_slave, /**< Slave at port 0. */
unsigned int *slave_position /**< Slave position. */
)
{
ec_slave_t *slave = master->slaves + *slave_position;
unsigned int port_index;
int ret;
static const unsigned int next_table[EC_MAX_PORTS] = {
3, 2, 0, 1
};
slave->ports[0].next_slave = port0_slave;
port_index = 3;
while (port_index != 0) {
if (!slave->ports[port_index].link.loop_closed) {
*slave_position = *slave_position + 1;
if (*slave_position < master->slave_count) {
slave->ports[port_index].next_slave =
master->slaves + *slave_position;
ret = ec_master_calc_topology_rec(master,
slave, slave_position);
if (ret) {
return ret;
}
} else {
return -1;
}
}
port_index = next_table[port_index];
}
return 0;
}
/*****************************************************************************/
/** Calculates the bus topology.
*/
void ec_master_calc_topology(
ec_master_t *master /**< EtherCAT master. */
)
{
unsigned int slave_position = 0;
if (master->slave_count == 0)
return;
if (ec_master_calc_topology_rec(master, NULL, &slave_position))
EC_MASTER_ERR(master, "Failed to calculate bus topology.\n");
}
/*****************************************************************************/
/** Calculates the bus transmission delays.
*/
void ec_master_calc_transmission_delays(
ec_master_t *master /**< EtherCAT master. */
)
{
ec_slave_t *slave;
for (slave = master->slaves;
slave < master->slaves + master->slave_count;
slave++) {
ec_slave_calc_port_delays(slave);
}
if (master->dc_ref_clock) {
uint32_t delay = 0;
ec_slave_calc_transmission_delays_rec(master->dc_ref_clock, &delay);
}
}
/*****************************************************************************/
/** Distributed-clocks calculations.
*/
void ec_master_calc_dc(
ec_master_t *master /**< EtherCAT master. */
)
{
// find DC reference clock
ec_master_find_dc_ref_clock(master);
// calculate bus topology
ec_master_calc_topology(master);
ec_master_calc_transmission_delays(master);
}
/*****************************************************************************/
/** Request OP state for configured slaves.
*/
void ec_master_request_op(
ec_master_t *master /**< EtherCAT master. */
)
{
unsigned int i;
ec_slave_t *slave;
if (!master->active)
return;
EC_MASTER_DBG(master, 1, "Requesting OP...\n");
// request OP for all configured slaves
for (i = 0; i < master->slave_count; i++) {
slave = master->slaves + i;
if (slave->config) {
ec_slave_request_state(slave, EC_SLAVE_STATE_OP);
}
}
// always set DC reference clock to OP
if (master->dc_ref_clock) {
ec_slave_request_state(master->dc_ref_clock, EC_SLAVE_STATE_OP);
}
}
/******************************************************************************
* Application interface
*****************************************************************************/
/** Same as ecrt_master_create_domain(), but with ERR_PTR() return value.
*
* \return New domain, or ERR_PTR() return value.
*/
ec_domain_t *ecrt_master_create_domain_err(
ec_master_t *master /**< master */
)
{
ec_domain_t *domain, *last_domain;
unsigned int index;
EC_MASTER_DBG(master, 1, "ecrt_master_create_domain(master = 0x%p)\n",
master);
if (!(domain =
(ec_domain_t *) kmalloc(sizeof(ec_domain_t), GFP_KERNEL))) {
EC_MASTER_ERR(master, "Error allocating domain memory!\n");
return ERR_PTR(-ENOMEM);
}
down(&master->master_sem);
if (list_empty(&master->domains)) {
index = 0;
} else {
last_domain = list_entry(master->domains.prev, ec_domain_t, list);
index = last_domain->index + 1;
}
ec_domain_init(domain, master, index);
list_add_tail(&domain->list, &master->domains);
up(&master->master_sem);
EC_MASTER_DBG(master, 1, "Created domain %u.\n", domain->index);
return domain;
}
/*****************************************************************************/
ec_domain_t *ecrt_master_create_domain(
ec_master_t *master /**< master */
)
{
ec_domain_t *d = ecrt_master_create_domain_err(master);
return IS_ERR(d) ? NULL : d;
}
/*****************************************************************************/
int ecrt_master_activate(ec_master_t *master)
{
uint32_t domain_offset;
ec_domain_t *domain;
int ret;
#ifdef EC_EOE
int eoe_was_running;
#endif
EC_MASTER_DBG(master, 1, "ecrt_master_activate(master = 0x%p)\n", master);
if (master->active) {
EC_MASTER_WARN(master, "%s: Master already active!\n", __func__);
return 0;
}
down(&master->master_sem);
// finish all domains
domain_offset = 0;
list_for_each_entry(domain, &master->domains, list) {
ret = ec_domain_finish(domain, domain_offset);
if (ret < 0) {
up(&master->master_sem);
EC_MASTER_ERR(master, "Failed to finish domain 0x%p!\n", domain);
return ret;
}
domain_offset += domain->data_size;
}
up(&master->master_sem);
// restart EoE process and master thread with new locking
ec_master_thread_stop(master);
#ifdef EC_EOE
eoe_was_running = master->eoe_thread != NULL;
ec_master_eoe_stop(master);
#endif
EC_MASTER_DBG(master, 1, "FSM datagram is %p.\n", &master->fsm_datagram);
master->injection_seq_fsm = 0;
master->injection_seq_rt = 0;
master->send_cb = master->app_send_cb;
master->receive_cb = master->app_receive_cb;
master->cb_data = master->app_cb_data;
#ifdef EC_EOE
if (eoe_was_running) {
ec_master_eoe_start(master);
}
#endif
ret = ec_master_thread_start(master, ec_master_operation_thread,
"EtherCAT-OP");
if (ret < 0) {
EC_MASTER_ERR(master, "Failed to start master thread!\n");
return ret;
}
/* Allow scanning after a topology change. */
master->allow_scan = 1;
master->active = 1;
// notify state machine, that the configuration shall now be applied
master->config_changed = 1;
return 0;
}
/*****************************************************************************/
void ecrt_master_deactivate(ec_master_t *master)
{
ec_slave_t *slave;
#ifdef EC_EOE
ec_eoe_t *eoe;
int eoe_was_running;
#endif
EC_MASTER_DBG(master, 1, "%s(master = 0x%p)\n", __func__, master);
if (!master->active) {
EC_MASTER_WARN(master, "%s: Master not active.\n", __func__);
return;
}
ec_master_thread_stop(master);
#ifdef EC_EOE
eoe_was_running = master->eoe_thread != NULL;
ec_master_eoe_stop(master);
#endif
master->send_cb = ec_master_internal_send_cb;
master->receive_cb = ec_master_internal_receive_cb;
master->cb_data = master;
ec_master_clear_config(master);
for (slave = master->slaves;
slave < master->slaves + master->slave_count;
slave++) {
// set states for all slaves
ec_slave_request_state(slave, EC_SLAVE_STATE_PREOP);
// mark for reconfiguration, because the master could have no
// possibility for a reconfiguration between two sequential operation
// phases.
slave->force_config = 1;
}
#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
master->app_time = 0ULL;
master->app_start_time = 0ULL;
master->has_app_time = 0;
#ifdef EC_EOE
if (eoe_was_running) {
ec_master_eoe_start(master);
}
#endif
if (ec_master_thread_start(master, ec_master_idle_thread,
"EtherCAT-IDLE")) {
EC_MASTER_WARN(master, "Failed to restart master thread!\n");
}
/* Disallow scanning to get into the same state like after a master
* request (after ec_master_enter_operation_phase() is called). */
master->allow_scan = 0;
master->active = 0;
}
/*****************************************************************************/
void ecrt_master_send(ec_master_t *master)
{
ec_datagram_t *datagram, *n;
ec_device_index_t dev_idx;
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;
}
ec_master_inject_external_datagrams(master);
for (dev_idx = EC_DEVICE_MAIN; dev_idx < ec_master_num_devices(master);
dev_idx++) {
if (unlikely(!master->devices[dev_idx].link_state)) {
// link is down, no datagram can be sent
list_for_each_entry_safe(datagram, n,
&master->datagram_queue, queue) {
if (datagram->device_index == dev_idx) {
datagram->state = EC_DATAGRAM_ERROR;
list_del_init(&datagram->queue);
}
}
if (!master->devices[dev_idx].dev) {
continue;
}
// query link state
ec_device_poll(&master->devices[dev_idx]);
// clear frame statistics
ec_device_clear_stats(&master->devices[dev_idx]);
continue;
}
// send frames
ec_master_send_datagrams(master, dev_idx);
}
}
/*****************************************************************************/
void ecrt_master_receive(ec_master_t *master)
{
unsigned int dev_idx;
ec_datagram_t *datagram, *next;
// receive datagrams
for (dev_idx = EC_DEVICE_MAIN; dev_idx < ec_master_num_devices(master);
dev_idx++) {
ec_device_poll(&master->devices[dev_idx]);
}
ec_master_update_device_stats(master);
// dequeue all datagrams that timed out
list_for_each_entry_safe(datagram, next, &master->datagram_queue, queue) {
if (datagram->state != EC_DATAGRAM_SENT) continue;
#ifdef EC_HAVE_CYCLES
if (master->devices[EC_DEVICE_MAIN].cycles_poll -
datagram->cycles_sent > timeout_cycles) {
#else
if (master->devices[EC_DEVICE_MAIN].jiffies_poll -
datagram->jiffies_sent > timeout_jiffies) {
#endif
list_del_init(&datagram->queue);
datagram->state = EC_DATAGRAM_TIMED_OUT;
master->stats.timeouts++;
#ifdef EC_RT_SYSLOG
ec_master_output_stats(master);
if (unlikely(master->debug_level > 0)) {
unsigned int time_us;
#ifdef EC_HAVE_CYCLES
time_us = (unsigned int)
(master->devices[EC_DEVICE_MAIN].cycles_poll -
datagram->cycles_sent) * 1000 / cpu_khz;
#else
time_us = (unsigned int)
((master->devices[EC_DEVICE_MAIN].jiffies_poll -
datagram->jiffies_sent) * 1000000 / HZ);
#endif
EC_MASTER_DBG(master, 0, "TIMED OUT datagram %p,"
" index %02X waited %u us.\n",
datagram, datagram->index, time_us);
}
#endif /* RT_SYSLOG */
}
}
}
/*****************************************************************************/
void ecrt_master_send_ext(ec_master_t *master)
{
ec_datagram_t *datagram, *next;
list_for_each_entry_safe(datagram, next, &master->ext_datagram_queue,
queue) {
list_del(&datagram->queue);
ec_master_queue_datagram(master, datagram);
}
ecrt_master_send(master);
}
/*****************************************************************************/
/** Same as ecrt_master_slave_config(), but with ERR_PTR() return value.
*/
ec_slave_config_t *ecrt_master_slave_config_err(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;
EC_MASTER_DBG(master, 1, "ecrt_master_slave_config(master = 0x%p,"
" alias = %u, position = %u, vendor_id = 0x%08x,"
" product_code = 0x%08x)\n",
master, alias, position, vendor_id, product_code);
list_for_each_entry(sc, &master->configs, list) {
if (sc->alias == alias && sc->position == position) {
found = 1;
break;
}
}
if (found) { // config with same alias/position already existing
if (sc->vendor_id != vendor_id || sc->product_code != product_code) {
EC_MASTER_ERR(master, "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 ERR_PTR(-ENOENT);
}
} else {
EC_MASTER_DBG(master, 1, "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_MASTER_ERR(master, "Failed to allocate memory"
" for slave configuration.\n");
return ERR_PTR(-ENOMEM);
}
ec_slave_config_init(sc, master,
alias, position, vendor_id, product_code);
down(&master->master_sem);
// try to find the addressed slave
ec_slave_config_attach(sc);
ec_slave_config_load_default_sync_config(sc);
list_add_tail(&sc->list, &master->configs);
up(&master->master_sem);
}
return sc;
}
/*****************************************************************************/
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 = ecrt_master_slave_config_err(master, alias,
position, vendor_id, product_code);
return IS_ERR(sc) ? NULL : sc;
}
/*****************************************************************************/
int ecrt_master_select_reference_clock(ec_master_t *master,
ec_slave_config_t *sc)
{
if (sc) {
ec_slave_t *slave = sc->slave;
// output an early warning
if (slave &&
(!slave->base_dc_supported || !slave->has_dc_system_time)) {
EC_MASTER_WARN(master, "Slave %u can not act as"
" a reference clock!", slave->ring_position);
}
}
master->dc_ref_config = sc;
return 0;
}
/*****************************************************************************/
int ecrt_master(ec_master_t *master, ec_master_info_t *master_info)
{
EC_MASTER_DBG(master, 1, "ecrt_master(master = 0x%p,"
" master_info = 0x%p)\n", master, master_info);
master_info->slave_count = master->slave_count;
master_info->link_up = master->devices[EC_DEVICE_MAIN].link_state;
master_info->scan_busy = master->scan_busy;
master_info->app_time = master->app_time;
return 0;
}
/*****************************************************************************/
int ecrt_master_get_slave(ec_master_t *master, uint16_t slave_position,
ec_slave_info_t *slave_info)
{
const ec_slave_t *slave;
unsigned int i;
int ret = 0;
if (down_interruptible(&master->master_sem)) {
return -EINTR;
}
slave = ec_master_find_slave_const(master, 0, slave_position);
if (slave == NULL) {
ret = -ENOENT;
goto out_get_slave;
}
slave_info->position = slave->ring_position;
slave_info->vendor_id = slave->sii.vendor_id;
slave_info->product_code = slave->sii.product_code;
slave_info->revision_number = slave->sii.revision_number;
slave_info->serial_number = slave->sii.serial_number;
slave_info->alias = slave->effective_alias;
slave_info->current_on_ebus = slave->sii.current_on_ebus;
for (i = 0; i < EC_MAX_PORTS; i++) {
slave_info->ports[i].desc = slave->ports[i].desc;
slave_info->ports[i].link.link_up = slave->ports[i].link.link_up;
slave_info->ports[i].link.loop_closed =
slave->ports[i].link.loop_closed;
slave_info->ports[i].link.signal_detected =
slave->ports[i].link.signal_detected;
slave_info->ports[i].receive_time = slave->ports[i].receive_time;
if (slave->ports[i].next_slave) {
slave_info->ports[i].next_slave =
slave->ports[i].next_slave->ring_position;
} else {
slave_info->ports[i].next_slave = 0xffff;
}
slave_info->ports[i].delay_to_next_dc =
slave->ports[i].delay_to_next_dc;
}
slave_info->al_state = slave->current_state;
slave_info->error_flag = slave->error_flag;
slave_info->sync_count = slave->sii.sync_count;
slave_info->sdo_count = ec_slave_sdo_count(slave);
if (slave->sii.name) {
strncpy(slave_info->name, slave->sii.name, EC_MAX_STRING_LENGTH);
} else {
slave_info->name[0] = 0;
}
out_get_slave:
up(&master->master_sem);
return ret;
}
/*****************************************************************************/
void ecrt_master_callbacks(ec_master_t *master,
void (*send_cb)(void *), void (*receive_cb)(void *), void *cb_data)
{
EC_MASTER_DBG(master, 1, "ecrt_master_callbacks(master = 0x%p,"
" send_cb = 0x%p, receive_cb = 0x%p, cb_data = 0x%p)\n",
master, send_cb, receive_cb, cb_data);
master->app_send_cb = send_cb;
master->app_receive_cb = receive_cb;
master->app_cb_data = cb_data;
}
/*****************************************************************************/
void ecrt_master_state(const ec_master_t *master, ec_master_state_t *state)
{
ec_device_index_t dev_idx;
state->slaves_responding = 0U;
state->al_states = 0;
state->link_up = 0U;
for (dev_idx = EC_DEVICE_MAIN; dev_idx < ec_master_num_devices(master);
dev_idx++) {
/* Announce sum of responding slaves on all links. */
state->slaves_responding += master->fsm.slaves_responding[dev_idx];
/* Binary-or slave states of all links. */
state->al_states |= master->fsm.slave_states[dev_idx];
/* Signal link up if at least one device has link. */
state->link_up |= master->devices[dev_idx].link_state;
}
}
/*****************************************************************************/
int ecrt_master_link_state(const ec_master_t *master, unsigned int dev_idx,
ec_master_link_state_t *state)
{
if (dev_idx >= ec_master_num_devices(master)) {
return -EINVAL;
}
state->slaves_responding = master->fsm.slaves_responding[dev_idx];
state->al_states = master->fsm.slave_states[dev_idx];
state->link_up = master->devices[dev_idx].link_state;
return 0;
}
/*****************************************************************************/
void ecrt_master_application_time(ec_master_t *master, uint64_t app_time)
{
master->app_time = app_time;
if (unlikely(!master->has_app_time)) {
master->app_start_time = app_time;
master->has_app_time = 1;
}
}
/*****************************************************************************/
int ecrt_master_reference_clock_time(ec_master_t *master, uint32_t *time)
{
if (!master->dc_ref_clock) {
return -ENXIO;
}
if (master->sync_datagram.state != EC_DATAGRAM_RECEIVED) {
return -EIO;
}
// Get returned datagram time, transmission delay removed.
*time = EC_READ_U32(master->sync_datagram.data) -
master->dc_ref_clock->transmission_delay;
return 0;
}
/*****************************************************************************/
void ecrt_master_sync_reference_clock(ec_master_t *master)
{
if (master->dc_ref_clock) {
EC_WRITE_U32(master->ref_sync_datagram.data, master->app_time);
ec_master_queue_datagram(master, &master->ref_sync_datagram);
}
}
/*****************************************************************************/
void ecrt_master_sync_slave_clocks(ec_master_t *master)
{
if (master->dc_ref_clock) {
ec_datagram_zero(&master->sync_datagram);
ec_master_queue_datagram(master, &master->sync_datagram);
}
}
/*****************************************************************************/
void ecrt_master_sync_monitor_queue(ec_master_t *master)
{
ec_datagram_zero(&master->sync_mon_datagram);
ec_master_queue_datagram(master, &master->sync_mon_datagram);
}
/*****************************************************************************/
uint32_t ecrt_master_sync_monitor_process(ec_master_t *master)
{
if (master->sync_mon_datagram.state == EC_DATAGRAM_RECEIVED) {
return EC_READ_U32(master->sync_mon_datagram.data) & 0x7fffffff;
} else {
return 0xffffffff;
}
}
/*****************************************************************************/
int ecrt_master_sdo_download(ec_master_t *master, uint16_t slave_position,
uint16_t index, uint8_t subindex, uint8_t *data,
size_t data_size, uint32_t *abort_code)
{
ec_sdo_request_t request;
ec_slave_t *slave;
int ret;
EC_MASTER_DBG(master, 1, "%s(master = 0x%p,"
" slave_position = %u, index = 0x%04X, subindex = 0x%02X,"
" data = 0x%p, data_size = %zu, abort_code = 0x%p)\n",
__func__, master, slave_position, index, subindex,
data, data_size, abort_code);
if (!data_size) {
EC_MASTER_ERR(master, "Zero data size!\n");
return -EINVAL;
}
ec_sdo_request_init(&request);
ecrt_sdo_request_index(&request, index, subindex);
ret = ec_sdo_request_alloc(&request, data_size);
if (ret) {
ec_sdo_request_clear(&request);
return ret;
}
memcpy(request.data, data, data_size);
request.data_size = data_size;
ecrt_sdo_request_write(&request);
if (down_interruptible(&master->master_sem)) {
ec_sdo_request_clear(&request);
return -EINTR;
}
if (!(slave = ec_master_find_slave(master, 0, slave_position))) {
up(&master->master_sem);
EC_MASTER_ERR(master, "Slave %u does not exist!\n", slave_position);
ec_sdo_request_clear(&request);
return -EINVAL;
}
EC_SLAVE_DBG(slave, 1, "Scheduling SDO download request.\n");
// schedule request.
list_add_tail(&request.list, &slave->sdo_requests);
up(&master->master_sem);
// wait for processing through FSM
if (wait_event_interruptible(master->request_queue,
request.state != EC_INT_REQUEST_QUEUED)) {
// interrupted by signal
down(&master->master_sem);
if (request.state == EC_INT_REQUEST_QUEUED) {
list_del(&request.list);
up(&master->master_sem);
ec_sdo_request_clear(&request);
return -EINTR;
}
// request already processing: interrupt not possible.
up(&master->master_sem);
}
// wait until master FSM has finished processing
wait_event(master->request_queue, request.state != EC_INT_REQUEST_BUSY);
*abort_code = request.abort_code;
if (request.state == EC_INT_REQUEST_SUCCESS) {
ret = 0;
} else if (request.errno) {
ret = -request.errno;
} else {
ret = -EIO;
}
ec_sdo_request_clear(&request);
return ret;
}
/*****************************************************************************/
int ecrt_master_sdo_download_complete(ec_master_t *master,
uint16_t slave_position, uint16_t index, uint8_t *data,
size_t data_size, uint32_t *abort_code)
{
ec_sdo_request_t request;
ec_slave_t *slave;
int ret;
EC_MASTER_DBG(master, 1, "%s(master = 0x%p,"
" slave_position = %u, index = 0x%04X,"
" data = 0x%p, data_size = %zu, abort_code = 0x%p)\n",
__func__, master, slave_position, index, data, data_size,
abort_code);
if (!data_size) {
EC_MASTER_ERR(master, "Zero data size!\n");
return -EINVAL;
}
ec_sdo_request_init(&request);
ecrt_sdo_request_index(&request, index, 0);
ret = ec_sdo_request_alloc(&request, data_size);
if (ret) {
ec_sdo_request_clear(&request);
return ret;
}
request.complete_access = 1;
memcpy(request.data, data, data_size);
request.data_size = data_size;
ecrt_sdo_request_write(&request);
if (down_interruptible(&master->master_sem)) {
ec_sdo_request_clear(&request);
return -EINTR;
}
if (!(slave = ec_master_find_slave(master, 0, slave_position))) {
up(&master->master_sem);
EC_MASTER_ERR(master, "Slave %u does not exist!\n", slave_position);
ec_sdo_request_clear(&request);
return -EINVAL;
}
EC_SLAVE_DBG(slave, 1, "Scheduling SDO download request"
" (complete access).\n");
// schedule request.
list_add_tail(&request.list, &slave->sdo_requests);
up(&master->master_sem);
// wait for processing through FSM
if (wait_event_interruptible(master->request_queue,
request.state != EC_INT_REQUEST_QUEUED)) {
// interrupted by signal
down(&master->master_sem);
if (request.state == EC_INT_REQUEST_QUEUED) {
list_del(&request.list);
up(&master->master_sem);
ec_sdo_request_clear(&request);
return -EINTR;
}
// request already processing: interrupt not possible.
up(&master->master_sem);
}
// wait until master FSM has finished processing
wait_event(master->request_queue, request.state != EC_INT_REQUEST_BUSY);
*abort_code = request.abort_code;
if (request.state == EC_INT_REQUEST_SUCCESS) {
ret = 0;
} else if (request.errno) {
ret = -request.errno;
} else {
ret = -EIO;
}
ec_sdo_request_clear(&request);
return ret;
}
/*****************************************************************************/
int ecrt_master_sdo_upload(ec_master_t *master, uint16_t slave_position,
uint16_t index, uint8_t subindex, uint8_t *target,
size_t target_size, size_t *result_size, uint32_t *abort_code)
{
ec_sdo_request_t request;
ec_slave_t *slave;
int ret = 0;
EC_MASTER_DBG(master, 1, "%s(master = 0x%p,"
" slave_position = %u, index = 0x%04X, subindex = 0x%02X,"
" target = 0x%p, target_size = %zu, result_size = 0x%p,"
" abort_code = 0x%p)\n",
__func__, master, slave_position, index, subindex,
target, target_size, result_size, abort_code);
ec_sdo_request_init(&request);
ecrt_sdo_request_index(&request, index, subindex);
ecrt_sdo_request_read(&request);
if (down_interruptible(&master->master_sem)) {
ec_sdo_request_clear(&request);
return -EINTR;
}
if (!(slave = ec_master_find_slave(master, 0, slave_position))) {
up(&master->master_sem);
ec_sdo_request_clear(&request);
EC_MASTER_ERR(master, "Slave %u does not exist!\n", slave_position);
return -EINVAL;
}
EC_SLAVE_DBG(slave, 1, "Scheduling SDO upload request.\n");
// schedule request.
list_add_tail(&request.list, &slave->sdo_requests);
up(&master->master_sem);
// wait for processing through FSM
if (wait_event_interruptible(master->request_queue,
request.state != EC_INT_REQUEST_QUEUED)) {
// interrupted by signal
down(&master->master_sem);
if (request.state == EC_INT_REQUEST_QUEUED) {
list_del(&request.list);
up(&master->master_sem);
ec_sdo_request_clear(&request);
return -EINTR;
}
// request already processing: interrupt not possible.
up(&master->master_sem);
}
// wait until master FSM has finished processing
wait_event(master->request_queue, request.state != EC_INT_REQUEST_BUSY);
*abort_code = request.abort_code;
if (request.state != EC_INT_REQUEST_SUCCESS) {
*result_size = 0;
if (request.errno) {
ret = -request.errno;
} else {
ret = -EIO;
}
} else {
if (request.data_size > target_size) {
EC_SLAVE_ERR(slave, "%s(): Buffer too small.\n", __func__);
ret = -EOVERFLOW;
}
else {
memcpy(target, request.data, request.data_size);
*result_size = request.data_size;
ret = 0;
}
}
ec_sdo_request_clear(&request);
return ret;
}
/*****************************************************************************/
int ecrt_master_write_idn(ec_master_t *master, uint16_t slave_position,
uint8_t drive_no, uint16_t idn, uint8_t *data, size_t data_size,
uint16_t *error_code)
{
ec_soe_request_t request;
ec_slave_t *slave;
int ret;
if (drive_no > 7) {
EC_MASTER_ERR(master, "Invalid drive number!\n");
return -EINVAL;
}
ec_soe_request_init(&request);
ec_soe_request_set_drive_no(&request, drive_no);
ec_soe_request_set_idn(&request, idn);
ret = ec_soe_request_alloc(&request, data_size);
if (ret) {
ec_soe_request_clear(&request);
return ret;
}
memcpy(request.data, data, data_size);
request.data_size = data_size;
ec_soe_request_write(&request);
if (down_interruptible(&master->master_sem)) {
ec_soe_request_clear(&request);
return -EINTR;
}
if (!(slave = ec_master_find_slave(master, 0, slave_position))) {
up(&master->master_sem);
EC_MASTER_ERR(master, "Slave %u does not exist!\n",
slave_position);
ec_soe_request_clear(&request);
return -EINVAL;
}
EC_SLAVE_DBG(slave, 1, "Scheduling SoE write request.\n");
// schedule SoE write request.
list_add_tail(&request.list, &slave->soe_requests);
up(&master->master_sem);
// wait for processing through FSM
if (wait_event_interruptible(master->request_queue,
request.state != EC_INT_REQUEST_QUEUED)) {
// interrupted by signal
down(&master->master_sem);
if (request.state == EC_INT_REQUEST_QUEUED) {
// abort request
list_del(&request.list);
up(&master->master_sem);
ec_soe_request_clear(&request);
return -EINTR;
}
up(&master->master_sem);
}
// wait until master FSM has finished processing
wait_event(master->request_queue, request.state != EC_INT_REQUEST_BUSY);
if (error_code) {
*error_code = request.error_code;
}
ret = request.state == EC_INT_REQUEST_SUCCESS ? 0 : -EIO;
ec_soe_request_clear(&request);
return ret;
}
/*****************************************************************************/
int ecrt_master_read_idn(ec_master_t *master, uint16_t slave_position,
uint8_t drive_no, uint16_t idn, uint8_t *target, size_t target_size,
size_t *result_size, uint16_t *error_code)
{
ec_soe_request_t request;
ec_slave_t *slave;
int ret;
if (drive_no > 7) {
EC_MASTER_ERR(master, "Invalid drive number!\n");
return -EINVAL;
}
ec_soe_request_init(&request);
ec_soe_request_set_drive_no(&request, drive_no);
ec_soe_request_set_idn(&request, idn);
ec_soe_request_read(&request);
if (down_interruptible(&master->master_sem)) {
ec_soe_request_clear(&request);
return -EINTR;
}
if (!(slave = ec_master_find_slave(master, 0, slave_position))) {
up(&master->master_sem);
ec_soe_request_clear(&request);
EC_MASTER_ERR(master, "Slave %u does not exist!\n", slave_position);
return -EINVAL;
}
EC_SLAVE_DBG(slave, 1, "Scheduling SoE read request.\n");
// schedule request.
list_add_tail(&request.list, &slave->soe_requests);
up(&master->master_sem);
// wait for processing through FSM
if (wait_event_interruptible(master->request_queue,
request.state != EC_INT_REQUEST_QUEUED)) {
// interrupted by signal
down(&master->master_sem);
if (request.state == EC_INT_REQUEST_QUEUED) {
list_del(&request.list);
up(&master->master_sem);
ec_soe_request_clear(&request);
return -EINTR;
}
// request already processing: interrupt not possible.
up(&master->master_sem);
}
// wait until master FSM has finished processing
wait_event(master->request_queue, request.state != EC_INT_REQUEST_BUSY);
if (error_code) {
*error_code = request.error_code;
}
if (request.state != EC_INT_REQUEST_SUCCESS) {
if (result_size) {
*result_size = 0;
}
ret = -EIO;
} else { // success
if (request.data_size > target_size) {
EC_SLAVE_ERR(slave, "%s(): Buffer too small.\n", __func__);
ret = -EOVERFLOW;
}
else { // data fits in buffer
if (result_size) {
*result_size = request.data_size;
}
memcpy(target, request.data, request.data_size);
ret = 0;
}
}
ec_soe_request_clear(&request);
return ret;
}
/*****************************************************************************/
void ecrt_master_reset(ec_master_t *master)
{
ec_slave_config_t *sc;
list_for_each_entry(sc, &master->configs, list) {
if (sc->slave) {
ec_slave_request_state(sc->slave, EC_SLAVE_STATE_OP);
}
}
}
/*****************************************************************************/
/** \cond */
EXPORT_SYMBOL(ecrt_master_create_domain);
EXPORT_SYMBOL(ecrt_master_activate);
EXPORT_SYMBOL(ecrt_master_deactivate);
EXPORT_SYMBOL(ecrt_master_send);
EXPORT_SYMBOL(ecrt_master_send_ext);
EXPORT_SYMBOL(ecrt_master_receive);
EXPORT_SYMBOL(ecrt_master_callbacks);
EXPORT_SYMBOL(ecrt_master);
EXPORT_SYMBOL(ecrt_master_get_slave);
EXPORT_SYMBOL(ecrt_master_slave_config);
EXPORT_SYMBOL(ecrt_master_select_reference_clock);
EXPORT_SYMBOL(ecrt_master_state);
EXPORT_SYMBOL(ecrt_master_link_state);
EXPORT_SYMBOL(ecrt_master_application_time);
EXPORT_SYMBOL(ecrt_master_sync_reference_clock);
EXPORT_SYMBOL(ecrt_master_sync_slave_clocks);
EXPORT_SYMBOL(ecrt_master_reference_clock_time);
EXPORT_SYMBOL(ecrt_master_sync_monitor_queue);
EXPORT_SYMBOL(ecrt_master_sync_monitor_process);
EXPORT_SYMBOL(ecrt_master_sdo_download);
EXPORT_SYMBOL(ecrt_master_sdo_download_complete);
EXPORT_SYMBOL(ecrt_master_sdo_upload);
EXPORT_SYMBOL(ecrt_master_write_idn);
EXPORT_SYMBOL(ecrt_master_read_idn);
EXPORT_SYMBOL(ecrt_master_reset);
/** \endcond */
/*****************************************************************************/