/******************************************************************************
*
* $Id$
*
* 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 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 "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"
/*****************************************************************************/
#ifdef EC_HAVE_CYCLES
/** Frame timeout in cycles.
*/
static cycles_t timeout_cycles;
#else
/** Frame timeout in jiffies.
*/
static unsigned long timeout_jiffies;
#endif
/*****************************************************************************/
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
void ec_master_eoe_run(unsigned long);
#endif
void ec_master_find_dc_ref_clock(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);
#else
// one jiffy may always elapse between time measurement
timeout_jiffies = max(EC_IO_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;
master->index = index;
master->reserved = 0;
init_MUTEX(&master->master_sem);
master->main_mac = main_mac;
master->backup_mac = backup_mac;
init_MUTEX(&master->device_sem);
master->phase = EC_ORPHANED;
master->injection_seq_fsm = 0;
master->injection_seq_rt = 0;
master->slaves = NULL;
master->slave_count = 0;
INIT_LIST_HEAD(&master->configs);
master->app_time = 0ULL;
master->scan_busy = 0;
master->allow_scan = 1;
init_MUTEX(&master->scan_sem);
init_waitqueue_head(&master->scan_queue);
master->config_busy = 0;
master->allow_config = 1;
init_MUTEX(&master->config_sem);
init_waitqueue_head(&master->config_queue);
INIT_LIST_HEAD(&master->datagram_queue);
master->datagram_index = 0;
INIT_LIST_HEAD(&master->domains);
master->debug_level = debug_level;
master->stats.timeouts = 0;
master->stats.corrupted = 0;
master->stats.unmatched = 0;
master->stats.output_jiffies = 0;
master->frames_timed_out = 0;
master->thread = NULL;
#ifdef EC_EOE
init_timer(&master->eoe_timer);
master->eoe_timer.function = ec_master_eoe_run;
master->eoe_timer.data = (unsigned long) master;
master->eoe_running = 0;
INIT_LIST_HEAD(&master->eoe_handlers);
#endif
master->internal_lock = SPIN_LOCK_UNLOCKED;
master->request_cb = NULL;
master->release_cb = NULL;
master->cb_data = NULL;
INIT_LIST_HEAD(&master->sii_requests);
init_waitqueue_head(&master->sii_queue);
INIT_LIST_HEAD(&master->slave_sdo_requests);
init_waitqueue_head(&master->sdo_queue);
INIT_LIST_HEAD(&master->reg_requests);
init_waitqueue_head(&master->reg_queue);
INIT_LIST_HEAD(&master->foe_requests);
init_waitqueue_head(&master->foe_queue);
// init devices
ret = ec_device_init(&master->main_device, master);
if (ret < 0)
goto out_return;
ret = ec_device_init(&master->backup_device, master);
if (ret < 0)
goto out_clear_main;
// init state machine datagram
ec_datagram_init(&master->fsm_datagram);
snprintf(master->fsm_datagram.name, EC_DATAGRAM_NAME_SIZE, "master-fsm");
ret = ec_datagram_prealloc(&master->fsm_datagram, EC_MAX_DATA_SIZE);
if (ret < 0) {
ec_datagram_clear(&master->fsm_datagram);
EC_ERR("Failed to allocate FSM datagram.\n");
goto out_clear_backup;
}
// create state machine object
ec_fsm_master_init(&master->fsm, master, &master->fsm_datagram);
// init reference sync datagram
ec_datagram_init(&master->ref_sync_datagram);
snprintf(master->ref_sync_datagram.name, EC_DATAGRAM_NAME_SIZE, "refsync");
ret = ec_datagram_apwr(&master->ref_sync_datagram, 0, 0x0910, 8);
if (ret < 0) {
ec_datagram_clear(&master->ref_sync_datagram);
EC_ERR("Failed to allocate reference synchronisation datagram.\n");
goto out_clear_fsm;
}
// 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_ERR("Failed to allocate synchronisation datagram.\n");
goto out_clear_ref_sync;
}
ec_master_find_dc_ref_clock(master);
// init character device
ret = ec_cdev_init(&master->cdev, master, device_number);
if (ret)
goto out_clear_sync;
#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_ERR("Failed to create class device!\n");
ret = PTR_ERR(master->class_device);
goto out_clear_cdev;
}
return 0;
out_clear_cdev:
ec_cdev_clear(&master->cdev);
out_clear_sync:
ec_datagram_clear(&master->sync_datagram);
out_clear_ref_sync:
ec_datagram_clear(&master->ref_sync_datagram);
out_clear_fsm:
ec_fsm_master_clear(&master->fsm);
ec_datagram_clear(&master->fsm_datagram);
out_clear_backup:
ec_device_clear(&master->backup_device);
out_clear_main:
ec_device_clear(&master->main_device);
out_return:
return ret;
}
/*****************************************************************************/
/** Destructor.
*/
void ec_master_clear(
ec_master_t *master /**< EtherCAT master */
)
{
#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_datagram);
ec_datagram_clear(&master->ref_sync_datagram);
ec_fsm_master_clear(&master->fsm);
ec_datagram_clear(&master->fsm_datagram);
ec_device_clear(&master->backup_device);
ec_device_clear(&master->main_device);
}
/*****************************************************************************/
#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;
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;
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);
}
}
/*****************************************************************************/
/** Internal locking callback.
*/
int ec_master_request_cb(void *master /**< callback data */)
{
spin_lock(&((ec_master_t *) master)->internal_lock);
return 0;
}
/*****************************************************************************/
/** Internal unlocking callback.
*/
void ec_master_release_cb(void *master /**< callback data */)
{
spin_unlock(&((ec_master_t *) master)->internal_lock);
}
/*****************************************************************************/
/** Starts the master thread.
*
* \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_INFO("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_ERR("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_WARN("ec_master_thread_stop(): Already finished!\n");
return;
}
if (master->debug_level)
EC_DBG("Stopping master thread.\n");
kthread_stop(master->thread);
master->thread = NULL;
EC_INFO("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.
*/
int ec_master_enter_idle_phase(
ec_master_t *master /**< EtherCAT master */
)
{
int ret;
if (master->debug_level)
EC_DBG("ORPHANED -> IDLE.\n");
master->request_cb = ec_master_request_cb;
master->release_cb = ec_master_release_cb;
master->cb_data = master;
master->phase = EC_IDLE;
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 */)
{
if (master->debug_level)
EC_DBG("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);
}
/*****************************************************************************/
/** Transition function from IDLE to OPERATION phase.
*/
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
if (master->debug_level)
EC_DBG("IDLE -> OPERATION.\n");
down(&master->config_sem);
master->allow_config = 0; // temporarily disable slave configuration
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_INFO("Finishing slave configuration interrupted by signal.\n");
goto out_allow;
}
if (master->debug_level)
EC_DBG("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_INFO("Waiting for slave scan interrupted by signal.\n");
goto out_allow;
}
if (master->debug_level)
EC_DBG("Waiting for pending slave scan returned.\n");
}
// set states for all slaves
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->ext_request_cb = NULL;
master->ext_release_cb = NULL;
master->ext_cb_data = NULL;
return ret;
out_allow:
master->allow_scan = 1;
master->allow_config = 1;
return ret;
}
/*****************************************************************************/
/** Transition function from OPERATION to IDLE phase.
*/
void ec_master_leave_operation_phase(ec_master_t *master
/**< EtherCAT master */)
{
ec_slave_t *slave;
#ifdef EC_EOE
ec_eoe_t *eoe;
#endif
if (master->debug_level)
EC_DBG("OPERATION -> IDLE.\n");
master->phase = EC_IDLE;
#ifdef EC_EOE
ec_master_eoe_stop(master);
#endif
ec_master_thread_stop(master);
master->request_cb = ec_master_request_cb;
master->release_cb = ec_master_release_cb;
master->cb_data = master;
down(&master->master_sem);
ec_master_clear_domains(master);
ec_master_clear_slave_configs(master);
up(&master->master_sem);
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;
if (ec_master_thread_start(master, ec_master_idle_thread,
"EtherCAT-IDLE"))
EC_WARN("Failed to restart master thread!\n");
#ifdef EC_EOE
ec_master_eoe_start(master);
#endif
master->allow_scan = 1;
master->allow_config = 1;
}
/*****************************************************************************/
/** Places a datagram in the datagram queue.
*/
void ec_master_queue_datagram(ec_master_t *master, /**< EtherCAT master */
ec_datagram_t *datagram /**< datagram */
)
{
ec_datagram_t *queued_datagram;
// check, if the datagram is already queued
list_for_each_entry(queued_datagram, &master->datagram_queue, queue) {
if (queued_datagram == datagram) {
datagram->skip_count++;
if (master->debug_level)
EC_DBG("skipping datagram %x.\n", (unsigned int) datagram);
datagram->state = EC_DATAGRAM_QUEUED;
return;
}
}
list_add_tail(&datagram->queue, &master->datagram_queue);
datagram->state = EC_DATAGRAM_QUEUED;
}
/*****************************************************************************/
/** Sends the datagrams in the queue.
*
* \return 0 in case of success, else < 0
*/
void ec_master_send_datagrams(ec_master_t *master /**< EtherCAT master */)
{
ec_datagram_t *datagram, *next;
size_t datagram_size;
uint8_t *frame_data, *cur_data;
void *follows_word;
#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);
if (unlikely(master->debug_level > 1))
EC_DBG("ec_master_send_datagrams\n");
do {
// fetch pointer to transmit socket buffer
frame_data = ec_device_tx_data(&master->main_device);
cur_data = frame_data + EC_FRAME_HEADER_SIZE;
follows_word = NULL;
more_datagrams_waiting = 0;
// fill current frame with datagrams
list_for_each_entry(datagram, &master->datagram_queue, queue) {
if (datagram->state != EC_DATAGRAM_QUEUED) continue;
// does the current datagram fit in the frame?
datagram_size = EC_DATAGRAM_HEADER_SIZE + datagram->data_size
+ EC_DATAGRAM_FOOTER_SIZE;
if (cur_data - frame_data + datagram_size > ETH_DATA_LEN) {
more_datagrams_waiting = 1;
break;
}
list_add_tail(&datagram->sent, &sent_datagrams);
datagram->index = master->datagram_index++;
if (unlikely(master->debug_level > 1))
EC_DBG("adding datagram 0x%02X\n", datagram->index);
// set "datagram following" flag in previous frame
if (follows_word)
EC_WRITE_U16(follows_word, EC_READ_U16(follows_word) | 0x8000);
// EtherCAT datagram header
EC_WRITE_U8 (cur_data, datagram->type);
EC_WRITE_U8 (cur_data + 1, datagram->index);
memcpy(cur_data + 2, datagram->address, EC_ADDR_LEN);
EC_WRITE_U16(cur_data + 6, datagram->data_size & 0x7FF);
EC_WRITE_U16(cur_data + 8, 0x0000);
follows_word = cur_data + 6;
cur_data += EC_DATAGRAM_HEADER_SIZE;
// EtherCAT datagram data
memcpy(cur_data, datagram->data, datagram->data_size);
cur_data += datagram->data_size;
// EtherCAT datagram footer
EC_WRITE_U16(cur_data, 0x0000); // reset working counter
cur_data += EC_DATAGRAM_FOOTER_SIZE;
}
if (list_empty(&sent_datagrams)) {
if (unlikely(master->debug_level > 1))
EC_DBG("nothing to send.\n");
break;
}
// EtherCAT frame header
EC_WRITE_U16(frame_data, ((cur_data - frame_data
- EC_FRAME_HEADER_SIZE) & 0x7FF) | 0x1000);
// pad frame
while (cur_data - frame_data < ETH_ZLEN - ETH_HLEN)
EC_WRITE_U8(cur_data++, 0x00);
if (unlikely(master->debug_level > 1))
EC_DBG("frame size: %u\n", cur_data - frame_data);
// send frame
ec_device_send(&master->main_device, 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_DBG("ec_master_send_datagrams sent %u frames in %uus.\n",
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 */
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) {
EC_DBG("Corrupted frame received (size %u < %u byte):\n",
size, EC_FRAME_HEADER_SIZE);
ec_print_data(frame_data, size);
}
master->stats.corrupted++;
ec_master_output_stats(master);
return;
}
cur_data = frame_data;
// check length of entire frame
frame_size = EC_READ_U16(cur_data) & 0x07FF;
cur_data += EC_FRAME_HEADER_SIZE;
if (unlikely(frame_size > size)) {
if (master->debug_level) {
EC_DBG("Corrupted frame received (invalid frame size %u for "
"received size %u):\n", frame_size, size);
ec_print_data(frame_data, size);
}
master->stats.corrupted++;
ec_master_output_stats(master);
return;
}
cmd_follows = 1;
while (cmd_follows) {
// process datagram header
datagram_type = EC_READ_U8 (cur_data);
datagram_index = EC_READ_U8 (cur_data + 1);
data_size = EC_READ_U16(cur_data + 6) & 0x07FF;
cmd_follows = EC_READ_U16(cur_data + 6) & 0x8000;
cur_data += EC_DATAGRAM_HEADER_SIZE;
if (unlikely(cur_data - frame_data
+ data_size + EC_DATAGRAM_FOOTER_SIZE > size)) {
if (master->debug_level) {
EC_DBG("Corrupted frame received (invalid data size %u):\n",
data_size);
ec_print_data(frame_data, size);
}
master->stats.corrupted++;
ec_master_output_stats(master);
return;
}
// search for matching datagram in the queue
matched = 0;
list_for_each_entry(datagram, &master->datagram_queue, queue) {
if (datagram->index == datagram_index
&& datagram->state == EC_DATAGRAM_SENT
&& datagram->type == datagram_type
&& datagram->data_size == data_size) {
matched = 1;
break;
}
}
// no matching datagram was found
if (!matched) {
master->stats.unmatched++;
ec_master_output_stats(master);
if (unlikely(master->debug_level > 0)) {
EC_DBG("UNMATCHED datagram:\n");
ec_print_data(cur_data - EC_DATAGRAM_HEADER_SIZE,
EC_DATAGRAM_HEADER_SIZE + data_size
+ EC_DATAGRAM_FOOTER_SIZE);
#ifdef EC_DEBUG_RING
ec_device_debug_ring_print(&master->main_device);
#endif
}
cur_data += data_size + EC_DATAGRAM_FOOTER_SIZE;
continue;
}
// copy received data into the datagram memory
memcpy(datagram->data, cur_data, data_size);
cur_data += data_size;
// set the datagram's working counter
datagram->working_counter = EC_READ_U16(cur_data);
cur_data += EC_DATAGRAM_FOOTER_SIZE;
// dequeue the received datagram
datagram->state = EC_DATAGRAM_RECEIVED;
#ifdef EC_HAVE_CYCLES
datagram->cycles_received = master->main_device.cycles_poll;
#endif
datagram->jiffies_received = master->main_device.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_WARN("%u datagram%s TIMED OUT!\n", master->stats.timeouts,
master->stats.timeouts == 1 ? "" : "s");
master->stats.timeouts = 0;
}
if (master->stats.corrupted) {
EC_WARN("%u frame%s CORRUPTED!\n", master->stats.corrupted,
master->stats.corrupted == 1 ? "" : "s");
master->stats.corrupted = 0;
}
if (master->stats.unmatched) {
EC_WARN("%u datagram%s UNMATCHED!\n", master->stats.unmatched,
master->stats.unmatched == 1 ? "" : "s");
master->stats.unmatched = 0;
}
}
}
/*****************************************************************************/
/** 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;
if (master->debug_level)
EC_DBG("Idle thread running.\n");
while (!kthread_should_stop()) {
ec_datagram_output_stats(&master->fsm_datagram);
// receive
spin_lock_bh(&master->internal_lock);
ecrt_master_receive(master);
spin_unlock_bh(&master->internal_lock);
if (master->fsm_datagram.state == EC_DATAGRAM_SENT)
goto schedule;
// execute master state machine
if (down_interruptible(&master->master_sem))
break;
ec_fsm_master_exec(&master->fsm);
up(&master->master_sem);
// queue and send
spin_lock_bh(&master->internal_lock);
ec_master_queue_datagram(master, &master->fsm_datagram);
ecrt_master_send(master);
spin_unlock_bh(&master->internal_lock);
schedule:
if (ec_fsm_master_idle(&master->fsm)) {
set_current_state(TASK_INTERRUPTIBLE);
schedule_timeout(1);
}
else {
schedule();
}
}
if (master->debug_level)
EC_DBG("Master IDLE thread exiting...\n");
return 0;
}
/*****************************************************************************/
/** Master kernel thread function for IDLE phase.
*/
static int ec_master_operation_thread(void *priv_data)
{
ec_master_t *master = (ec_master_t *) priv_data;
if (master->debug_level)
EC_DBG("Operation thread running.\n");
while (!kthread_should_stop()) {
ec_datagram_output_stats(&master->fsm_datagram);
if (master->injection_seq_rt != master->injection_seq_fsm ||
master->fsm_datagram.state == EC_DATAGRAM_SENT ||
master->fsm_datagram.state == EC_DATAGRAM_QUEUED)
goto schedule;
// output statistics
ec_master_output_stats(master);
// execute master state machine
if (down_interruptible(&master->master_sem))
break;
ec_fsm_master_exec(&master->fsm);
up(&master->master_sem);
// inject datagram
master->injection_seq_fsm++;
schedule:
if (ec_fsm_master_idle(&master->fsm)) {
set_current_state(TASK_INTERRUPTIBLE);
schedule_timeout(1);
}
else {
schedule();
}
}
if (master->debug_level)
EC_DBG("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 */)
{
if (master->eoe_running) {
EC_WARN("EoE already running!\n");
return;
}
if (list_empty(&master->eoe_handlers))
return;
if (!master->request_cb || !master->release_cb) {
EC_WARN("No EoE processing because of missing locking callbacks!\n");
return;
}
EC_INFO("Starting EoE processing.\n");
master->eoe_running = 1;
// start EoE processing
master->eoe_timer.expires = jiffies + 10;
add_timer(&master->eoe_timer);
}
/*****************************************************************************/
/** Stops the Ethernet over EtherCAT processing.
*/
void ec_master_eoe_stop(ec_master_t *master /**< EtherCAT master */)
{
if (!master->eoe_running) return;
EC_INFO("Stopping EoE processing.\n");
del_timer_sync(&master->eoe_timer);
master->eoe_running = 0;
}
/*****************************************************************************/
/** Does the Ethernet over EtherCAT processing.
*/
void ec_master_eoe_run(unsigned long data /**< master pointer */)
{
ec_master_t *master = (ec_master_t *) data;
ec_eoe_t *eoe;
unsigned int none_open = 1;
unsigned long restart_jiffies;
list_for_each_entry(eoe, &master->eoe_handlers, list) {
if (ec_eoe_is_open(eoe)) {
none_open = 0;
break;
}
}
if (none_open)
goto queue_timer;
// receive datagrams
if (master->request_cb(master->cb_data))
goto queue_timer;
ecrt_master_receive(master);
master->release_cb(master->cb_data);
// actual EoE processing
list_for_each_entry(eoe, &master->eoe_handlers, list) {
ec_eoe_run(eoe);
}
// send datagrams
if (master->request_cb(master->cb_data)) {
goto queue_timer;
}
list_for_each_entry(eoe, &master->eoe_handlers, list) {
ec_eoe_queue(eoe);
}
ecrt_master_send(master);
master->release_cb(master->cb_data);
queue_timer:
restart_jiffies = HZ / EC_EOE_FREQUENCY;
if (!restart_jiffies) restart_jiffies = 1;
master->eoe_timer.expires = jiffies + restart_jiffies;
add_timer(&master->eoe_timer);
}
#endif
/*****************************************************************************/
/** Detaches the slave configurations from the slaves.
*/
void ec_master_detach_slave_configs(
ec_master_t *master /**< EtherCAT master. */
)
{
ec_slave_config_t *sc;
list_for_each_entry(sc, &master->configs, list) {
ec_slave_config_detach(sc);
}
}
/*****************************************************************************/
/** 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->sii.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.
*/
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.
*/
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;
}
/*****************************************************************************/
/** 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_ERR("Invalid debug level %u!\n", level);
return -EINVAL;
}
if (level != master->debug_level) {
master->debug_level = level;
EC_INFO("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;
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;
// This call always succeeds, because the datagram has been pre-allocated.
ec_datagram_frmw(&master->sync_datagram,
ref ? ref->station_address : 0xffff, 0x0910, 4);
}
/*****************************************************************************/
/** Calculates the bus topology; recursion function.
*/
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 i;
int ret;
slave->ports[0].next_slave = port0_slave;
for (i = 1; i < EC_MAX_PORTS; i++) {
if (!slave->ports[i].link.loop_closed) {
*slave_position = *slave_position + 1;
if (*slave_position < master->slave_count) {
slave->ports[i].next_slave = master->slaves + *slave_position;
ret = ec_master_calc_topology_rec(master,
slave, slave_position);
if (ret)
return ret;
} else {
return -1;
}
}
}
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_ERR("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);
}
/******************************************************************************
* Application interface
*****************************************************************************/
/** Same as ecrt_master_create_domain(), but with 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;
if (master->debug_level)
EC_DBG("ecrt_master_create_domain(master = 0x%x)\n", (u32) master);
if (!(domain = (ec_domain_t *) kmalloc(sizeof(ec_domain_t), GFP_KERNEL))) {
EC_ERR("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);
if (master->debug_level)
EC_DBG("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;
if (master->debug_level)
EC_DBG("ecrt_master_activate(master = 0x%x)\n", (u32) master);
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_ERR("Failed to finish domain 0x%08X!\n", (u32) domain);
return ret;
}
domain_offset += domain->data_size;
}
up(&master->master_sem);
// restart EoE process and master thread with new locking
#ifdef EC_EOE
ec_master_eoe_stop(master);
#endif
ec_master_thread_stop(master);
if (master->debug_level)
EC_DBG("FSM datagram is %x.\n", (unsigned int) &master->fsm_datagram);
master->injection_seq_fsm = 0;
master->injection_seq_rt = 0;
master->request_cb = master->ext_request_cb;
master->release_cb = master->ext_release_cb;
master->cb_data = master->ext_cb_data;
ret = ec_master_thread_start(master, ec_master_operation_thread,
"EtherCAT-OP");
if (ret < 0) {
EC_ERR("Failed to start master thread!\n");
return ret;
}
#ifdef EC_EOE
ec_master_eoe_start(master);
#endif
master->allow_config = 1; // request the current configuration
master->allow_scan = 1; // allow re-scanning on topology change
return 0;
}
/*****************************************************************************/
void ecrt_master_send(ec_master_t *master)
{
ec_datagram_t *datagram, *n;
if (master->injection_seq_rt != master->injection_seq_fsm) {
// inject datagram produced by master FSM
ec_master_queue_datagram(master, &master->fsm_datagram);
master->injection_seq_rt = master->injection_seq_fsm;
}
if (unlikely(!master->main_device.link_state)) {
// link is down, no datagram can be sent
list_for_each_entry_safe(datagram, n, &master->datagram_queue, queue) {
datagram->state = EC_DATAGRAM_ERROR;
list_del_init(&datagram->queue);
}
// query link state
ec_device_poll(&master->main_device);
return;
}
// send frames
ec_master_send_datagrams(master);
}
/*****************************************************************************/
void ecrt_master_receive(ec_master_t *master)
{
ec_datagram_t *datagram, *next;
unsigned int frames_timed_out = 0;
// receive datagrams
ec_device_poll(&master->main_device);
// 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->main_device.cycles_poll - datagram->cycles_sent
> timeout_cycles) {
#else
if (master->main_device.jiffies_poll - datagram->jiffies_sent
> timeout_jiffies) {
#endif
frames_timed_out = 1;
list_del_init(&datagram->queue);
datagram->state = EC_DATAGRAM_TIMED_OUT;
master->stats.timeouts++;
ec_master_output_stats(master);
if (unlikely(master->debug_level > 0)) {
unsigned int time_us;
#ifdef EC_HAVE_CYCLES
time_us = (unsigned int) (master->main_device.cycles_poll -
datagram->cycles_sent) * 1000 / cpu_khz;
#else
time_us = (unsigned int) ((master->main_device.jiffies_poll -
datagram->jiffies_sent) * 1000000 / HZ);
#endif
EC_DBG("TIMED OUT datagram %08x, index %02X waited %u us.\n",
(unsigned int) datagram, datagram->index, time_us);
}
}
}
master->frames_timed_out = frames_timed_out;
}
/*****************************************************************************/
/** 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;
if (master->debug_level)
EC_DBG("ecrt_master_slave_config(master = 0x%x, alias = %u, "
"position = %u, vendor_id = 0x%x, product_code = 0x%x)\n",
(u32) 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_ERR("Slave type mismatch. Slave was configured as"
" 0x%08X/0x%08X before. Now configuring with"
" 0x%08X/0x%08X.\n", sc->vendor_id, sc->product_code,
vendor_id, product_code);
return ERR_PTR(-ENOENT);
}
} else {
if (master->debug_level)
EC_DBG("Creating slave configuration for %u:%u, 0x%08X/0x%08X.\n",
alias, position, vendor_id, product_code);
if (!(sc = (ec_slave_config_t *) kmalloc(sizeof(ec_slave_config_t),
GFP_KERNEL))) {
EC_ERR("Failed to allocate memory for slave configuration.\n");
return 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;
}
/*****************************************************************************/
void ecrt_master_callbacks(ec_master_t *master, int (*request_cb)(void *),
void (*release_cb)(void *), void *cb_data)
{
if (master->debug_level)
EC_DBG("ecrt_master_callbacks(master = 0x%x, request_cb = 0x%x, "
" release_cb = 0x%x, cb_data = 0x%x)\n", (u32) master,
(u32) request_cb, (u32) release_cb, (u32) cb_data);
master->ext_request_cb = request_cb;
master->ext_release_cb = release_cb;
master->ext_cb_data = cb_data;
}
/*****************************************************************************/
void ecrt_master_state(const ec_master_t *master, ec_master_state_t *state)
{
state->slaves_responding = master->fsm.slaves_responding;
state->al_states = master->fsm.slave_states;
state->link_up = master->main_device.link_state;
}
/*****************************************************************************/
void ecrt_master_sync_reference_clock(ec_master_t *master,
uint64_t app_time)
{
master->app_time = app_time;
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)
{
ec_datagram_zero(&master->sync_datagram);
ec_master_queue_datagram(master, &master->sync_datagram);
}
/*****************************************************************************/
/** \cond */
EXPORT_SYMBOL(ecrt_master_create_domain);
EXPORT_SYMBOL(ecrt_master_activate);
EXPORT_SYMBOL(ecrt_master_send);
EXPORT_SYMBOL(ecrt_master_receive);
EXPORT_SYMBOL(ecrt_master_callbacks);
EXPORT_SYMBOL(ecrt_master_slave_config);
EXPORT_SYMBOL(ecrt_master_state);
EXPORT_SYMBOL(ecrt_master_sync_reference_clock);
EXPORT_SYMBOL(ecrt_master_sync_slave_clocks);
/** \endcond */
/*****************************************************************************/