/******************************************************************************
*
* $Id$
*
* Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH
*
* This file is part of the IgH EtherCAT Master.
*
* The IgH EtherCAT Master is free software; you can redistribute it
* and/or modify it under the terms of the GNU General Public License
* as published by the Free Software Foundation; version 2 of the License.
*
* 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
*
*****************************************************************************/
/**
\file
EtherCAT master methods.
*/
/*****************************************************************************/
#include <linux/module.h>
#include <linux/kernel.h>
#include <linux/string.h>
#include <linux/slab.h>
#include <linux/delay.h>
#include "../include/ecrt.h"
#include "globals.h"
#include "master.h"
#include "slave.h"
#include "types.h"
#include "device.h"
#include "command.h"
#include "ethernet.h"
/*****************************************************************************/
void ec_master_freerun(unsigned long);
ssize_t ec_show_master_attribute(struct kobject *, struct attribute *, char *);
void ec_master_process_watch_command(ec_master_t *);
/*****************************************************************************/
/** \cond */
EC_SYSFS_READ_ATTR(slave_count);
EC_SYSFS_READ_ATTR(mode);
static struct attribute *ec_def_attrs[] = {
&attr_slave_count,
&attr_mode,
NULL,
};
static struct sysfs_ops ec_sysfs_ops = {
.show = &ec_show_master_attribute,
.store = NULL
};
static struct kobj_type ktype_ec_master = {
.release = ec_master_clear,
.sysfs_ops = &ec_sysfs_ops,
.default_attrs = ec_def_attrs
};
/** \endcond */
/*****************************************************************************/
/**
Master constructor.
\return 0 in case of success, else < 0
*/
int ec_master_init(ec_master_t *master, /**< EtherCAT master */
unsigned int index /**< master index */
)
{
EC_INFO("Initializing master %i.\n", index);
master->index = index;
master->device = NULL;
master->reserved = 0;
INIT_LIST_HEAD(&master->slaves);
INIT_LIST_HEAD(&master->command_queue);
INIT_LIST_HEAD(&master->domains);
INIT_LIST_HEAD(&master->eoe_slaves);
// init kobject and add it to the hierarchy
memset(&master->kobj, 0x00, sizeof(struct kobject));
kobject_init(&master->kobj);
master->kobj.ktype = &ktype_ec_master;
if (kobject_set_name(&master->kobj, "ethercat%i", index)) {
EC_ERR("Failed to set kobj name.\n");
kobject_put(&master->kobj);
return -1;
}
// init freerun timer
init_timer(&master->freerun_timer);
master->freerun_timer.function = ec_master_freerun;
master->freerun_timer.data = (unsigned long) master;
ec_command_init(&master->simple_command);
ec_command_init(&master->watch_command);
ec_master_reset(master);
return 0;
}
/*****************************************************************************/
/**
Master destructor.
Removes all pending commands, clears the slave list, clears all domains
and frees the device.
*/
void ec_master_clear(struct kobject *kobj /**< kobject of the master */)
{
ec_master_t *master = container_of(kobj, ec_master_t, kobj);
EC_INFO("Clearing master %i...\n", master->index);
del_timer_sync(&master->freerun_timer);
ec_master_reset(master);
if (master->device) {
ec_device_clear(master->device);
kfree(master->device);
}
ec_command_clear(&master->simple_command);
ec_command_clear(&master->watch_command);
EC_INFO("Master %i cleared.\n", master->index);
}
/*****************************************************************************/
/**
Resets the master.
Note: This function has to be called, everytime ec_master_release() is
called, to free the slave list, domains etc.
*/
void ec_master_reset(ec_master_t *master /**< EtherCAT master */)
{
ec_slave_t *slave, *next_s;
ec_command_t *command, *next_c;
ec_domain_t *domain, *next_d;
ec_eoe_t *eoe, *next_eoe;
ec_master_freerun_stop(master);
// remove all slaves
list_for_each_entry_safe(slave, next_s, &master->slaves, list) {
list_del(&slave->list);
kobject_del(&slave->kobj);
kobject_put(&slave->kobj);
}
master->slave_count = 0;
// empty command queue
list_for_each_entry_safe(command, next_c, &master->command_queue, queue) {
list_del_init(&command->queue);
command->state = EC_CMD_ERROR;
}
// clear domains
list_for_each_entry_safe(domain, next_d, &master->domains, list) {
list_del(&domain->list);
kobject_del(&domain->kobj);
kobject_put(&domain->kobj);
}
// clear EoE objects
list_for_each_entry_safe(eoe, next_eoe, &master->eoe_slaves, list) {
list_del(&eoe->list);
ec_eoe_clear(eoe);
kfree(eoe);
}
master->command_index = 0;
master->debug_level = 0;
master->timeout = 500; // 500us
master->slaves_responding = 0;
master->slave_states = EC_SLAVE_STATE_UNKNOWN;
master->stats.timeouts = 0;
master->stats.delayed = 0;
master->stats.corrupted = 0;
master->stats.unmatched = 0;
master->stats.eoe_errors = 0;
master->stats.t_last = 0;
master->mode = EC_MASTER_MODE_IDLE;
}
/*****************************************************************************/
/**
Places a command in the command queue.
*/
void ec_master_queue_command(ec_master_t *master, /**< EtherCAT master */
ec_command_t *command /**< command */
)
{
ec_command_t *queued_command;
// check, if the command is already queued
list_for_each_entry(queued_command, &master->command_queue, queue) {
if (queued_command == command) {
command->state = EC_CMD_QUEUED;
if (unlikely(master->debug_level))
EC_WARN("command already queued.\n");
return;
}
}
list_add_tail(&command->queue, &master->command_queue);
command->state = EC_CMD_QUEUED;
}
/*****************************************************************************/
/**
Sends the commands in the queue.
\return 0 in case of success, else < 0
*/
void ec_master_send_commands(ec_master_t *master /**< EtherCAT master */)
{
ec_command_t *command;
size_t command_size;
uint8_t *frame_data, *cur_data;
void *follows_word;
cycles_t start = 0, end;
unsigned int frame_count, more_commands_waiting;
frame_count = 0;
if (unlikely(master->debug_level > 0)) {
EC_DBG("ec_master_send_commands\n");
start = get_cycles();
}
do {
// fetch pointer to transmit socket buffer
frame_data = ec_device_tx_data(master->device);
cur_data = frame_data + EC_FRAME_HEADER_SIZE;
follows_word = NULL;
more_commands_waiting = 0;
// fill current frame with commands
list_for_each_entry(command, &master->command_queue, queue) {
if (command->state != EC_CMD_QUEUED) continue;
// does the current command fit in the frame?
command_size = EC_COMMAND_HEADER_SIZE + command->data_size
+ EC_COMMAND_FOOTER_SIZE;
if (cur_data - frame_data + command_size > EC_MAX_FRAME_SIZE) {
more_commands_waiting = 1;
break;
}
command->state = EC_CMD_SENT;
command->index = master->command_index++;
if (unlikely(master->debug_level > 0))
EC_DBG("adding command 0x%02X\n", command->index);
// set "command following" flag in previous frame
if (follows_word)
EC_WRITE_U16(follows_word, EC_READ_U16(follows_word) | 0x8000);
// EtherCAT command header
EC_WRITE_U8 (cur_data, command->type);
EC_WRITE_U8 (cur_data + 1, command->index);
EC_WRITE_U32(cur_data + 2, command->address.logical);
EC_WRITE_U16(cur_data + 6, command->data_size & 0x7FF);
EC_WRITE_U16(cur_data + 8, 0x0000);
follows_word = cur_data + 6;
cur_data += EC_COMMAND_HEADER_SIZE;
// EtherCAT command data
memcpy(cur_data, command->data, command->data_size);
cur_data += command->data_size;
// EtherCAT command footer
EC_WRITE_U16(cur_data, 0x0000); // reset working counter
cur_data += EC_COMMAND_FOOTER_SIZE;
}
if (cur_data - frame_data == EC_FRAME_HEADER_SIZE) {
if (unlikely(master->debug_level > 0))
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 < EC_MIN_FRAME_SIZE)
EC_WRITE_U8(cur_data++, 0x00);
if (unlikely(master->debug_level > 0))
EC_DBG("frame size: %i\n", cur_data - frame_data);
// send frame
ec_device_send(master->device, cur_data - frame_data);
frame_count++;
}
while (more_commands_waiting);
if (unlikely(master->debug_level > 0)) {
end = get_cycles();
EC_DBG("ec_master_send_commands sent %i frames in %ius.\n",
frame_count, (u32) (end - start) * 1000 / cpu_khz);
}
}
/*****************************************************************************/
/**
Processes a received frame.
This function is called by the network driver for every received frame.
\return 0 in case of success, else < 0
*/
void ec_master_receive(ec_master_t *master, /**< EtherCAT master */
const uint8_t *frame_data, /**< received data */
size_t size /**< size of the received data */
)
{
size_t frame_size, data_size;
uint8_t command_type, command_index;
unsigned int cmd_follows, matched;
const uint8_t *cur_data;
ec_command_t *command;
if (unlikely(size < EC_FRAME_HEADER_SIZE)) {
master->stats.corrupted++;
ec_master_output_stats(master);
return;
}
cur_data = frame_data;
// check length of entire frame
frame_size = EC_READ_U16(cur_data) & 0x07FF;
cur_data += EC_FRAME_HEADER_SIZE;
if (unlikely(frame_size > size)) {
master->stats.corrupted++;
ec_master_output_stats(master);
return;
}
cmd_follows = 1;
while (cmd_follows) {
// process command header
command_type = EC_READ_U8 (cur_data);
command_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_COMMAND_HEADER_SIZE;
if (unlikely(cur_data - frame_data
+ data_size + EC_COMMAND_FOOTER_SIZE > size)) {
master->stats.corrupted++;
ec_master_output_stats(master);
return;
}
// search for matching command in the queue
matched = 0;
list_for_each_entry(command, &master->command_queue, queue) {
if (command->state == EC_CMD_SENT
&& command->type == command_type
&& command->index == command_index
&& command->data_size == data_size) {
matched = 1;
break;
}
}
// no matching command was found
if (!matched) {
master->stats.unmatched++;
ec_master_output_stats(master);
cur_data += data_size + EC_COMMAND_FOOTER_SIZE;
continue;
}
// copy received data in the command memory
memcpy(command->data, cur_data, data_size);
cur_data += data_size;
// set the command's working counter
command->working_counter = EC_READ_U16(cur_data);
cur_data += EC_COMMAND_FOOTER_SIZE;
// dequeue the received command
command->state = EC_CMD_RECEIVED;
list_del_init(&command->queue);
}
}
/*****************************************************************************/
/**
Sends a single command and waits for its reception.
If the slave doesn't respond, the command is sent again.
\return 0 in case of success, else < 0
*/
int ec_master_simple_io(ec_master_t *master, /**< EtherCAT master */
ec_command_t *command /**< command */
)
{
unsigned int response_tries_left;
response_tries_left = 10;
while (1)
{
ec_master_queue_command(master, command);
ecrt_master_sync_io(master);
if (command->state == EC_CMD_RECEIVED) {
if (likely(command->working_counter))
return 0;
}
else if (command->state == EC_CMD_TIMEOUT) {
EC_ERR("Simple-IO TIMEOUT!\n");
return -1;
}
else if (command->state == EC_CMD_ERROR) {
EC_ERR("Simple-IO command error!\n");
return -1;
}
// no direct response, wait a little bit...
udelay(100);
if (unlikely(--response_tries_left)) {
EC_ERR("No response in simple-IO!\n");
return -1;
}
}
}
/*****************************************************************************/
/**
Scans the EtherCAT bus for slaves.
Creates a list of slave structures for further processing.
\return 0 in case of success, else < 0
*/
int ec_master_bus_scan(ec_master_t *master /**< EtherCAT master */)
{
ec_slave_t *slave, *next;
ec_slave_ident_t *ident;
unsigned int i;
ec_command_t *command;
ec_eoe_t *eoe;
uint16_t coupler_index, coupler_subindex;
uint16_t reverse_coupler_index, current_coupler_index;
if (!list_empty(&master->slaves)) {
EC_ERR("Slave scan already done!\n");
return -1;
}
command = &master->simple_command;
// determine number of slaves on bus
if (ec_command_brd(command, 0x0000, 4)) return -1;
if (unlikely(ec_master_simple_io(master, command))) return -1;
master->slave_count = command->working_counter;
EC_INFO("Found %i slaves on bus.\n", master->slave_count);
if (!master->slave_count) return 0;
// init slaves
for (i = 0; i < master->slave_count; i++) {
if (!(slave = (ec_slave_t *) kmalloc(sizeof(ec_slave_t), GFP_KERNEL))) {
EC_ERR("Failed to allocate slave %i!\n", i);
goto out_free;
}
if (ec_slave_init(slave, master, i, i + 1)) goto out_free;
if (kobject_add(&slave->kobj)) {
EC_ERR("Failed to add kobject.\n");
kobject_put(&slave->kobj); // free
goto out_free;
}
list_add_tail(&slave->list, &master->slaves);
}
coupler_index = 0;
reverse_coupler_index = 0xFFFF;
current_coupler_index = 0x3FFF;
coupler_subindex = 0;
// for every slave on the bus
list_for_each_entry(slave, &master->slaves, list) {
// write station address
if (ec_command_apwr(command, slave->ring_position, 0x0010,
sizeof(uint16_t))) goto out_free;
EC_WRITE_U16(command->data, slave->station_address);
if (unlikely(ec_master_simple_io(master, command))) {
EC_ERR("Writing station address failed on slave %i!\n",
slave->ring_position);
goto out_free;
}
// fetch all slave information
if (ec_slave_fetch(slave)) goto out_free;
// search for identification in "database"
ident = slave_idents;
while (ident->type) {
if (unlikely(ident->vendor_id == slave->sii_vendor_id
&& ident->product_code == slave->sii_product_code)) {
slave->type = ident->type;
break;
}
ident++;
}
if (!slave->type) {
EC_WARN("Unknown slave device (vendor 0x%08X, code 0x%08X) at"
" position %i.\n", slave->sii_vendor_id,
slave->sii_product_code, i);
}
else if (slave->type->special == EC_TYPE_BUS_COUPLER) {
if (slave->sii_alias)
current_coupler_index = reverse_coupler_index--;
else
current_coupler_index = coupler_index++;
coupler_subindex = 0;
}
slave->coupler_index = current_coupler_index;
slave->coupler_subindex = coupler_subindex;
coupler_subindex++;
// does the slave support EoE?
if (slave->sii_mailbox_protocols & EC_MBOX_EOE) {
if (!(eoe = (ec_eoe_t *) kmalloc(sizeof(ec_eoe_t), GFP_KERNEL))) {
EC_ERR("Failed to allocate EoE-Object.\n");
goto out_free;
}
ec_eoe_init(eoe, slave);
list_add_tail(&eoe->list, &master->eoe_slaves);
}
}
return 0;
out_free:
list_for_each_entry_safe(slave, next, &master->slaves, list) {
list_del(&slave->list);
kobject_del(&slave->kobj);
kobject_put(&slave->kobj);
}
return -1;
}
/*****************************************************************************/
/**
Output statistics in cyclic mode.
This function outputs statistical data on demand, but not more often than
necessary. The output happens at most once a second.
*/
void ec_master_output_stats(ec_master_t *master /**< EtherCAT master */)
{
cycles_t t_now = get_cycles();
if (unlikely((u32) (t_now - master->stats.t_last) / cpu_khz > 1000)) {
if (master->stats.timeouts) {
EC_WARN("%i commands TIMED OUT!\n", master->stats.timeouts);
master->stats.timeouts = 0;
}
if (master->stats.delayed) {
EC_WARN("%i frame(s) DELAYED!\n", master->stats.delayed);
master->stats.delayed = 0;
}
if (master->stats.corrupted) {
EC_WARN("%i frame(s) CORRUPTED!\n", master->stats.corrupted);
master->stats.corrupted = 0;
}
if (master->stats.unmatched) {
EC_WARN("%i command(s) UNMATCHED!\n", master->stats.unmatched);
master->stats.unmatched = 0;
}
if (master->stats.eoe_errors) {
EC_WARN("%i EOE ERROR(S)!\n", master->stats.eoe_errors);
master->stats.eoe_errors = 0;
}
master->stats.t_last = t_now;
}
}
/*****************************************************************************/
/**
Starts the Free-Run mode.
*/
void ec_master_freerun_start(ec_master_t *master /**< EtherCAT master */)
{
if (master->mode == EC_MASTER_MODE_FREERUN) return;
if (master->mode == EC_MASTER_MODE_RUNNING) {
EC_ERR("ec_master_freerun_start: Master already running!\n");
return;
}
EC_INFO("Starting Free-Run mode.\n");
master->mode = EC_MASTER_MODE_FREERUN;
if (master->watch_command.state == EC_CMD_INIT) {
if (ec_command_brd(&master->watch_command, 0x130, 2)) {
EC_ERR("Failed to allocate watchdog command!\n");
return;
}
}
ecrt_master_prepare_async_io(master);
master->freerun_timer.expires = jiffies + 10;
add_timer(&master->freerun_timer);
}
/*****************************************************************************/
/**
Stops the Free-Run mode.
*/
void ec_master_freerun_stop(ec_master_t *master /**< EtherCAT master */)
{
if (master->mode != EC_MASTER_MODE_FREERUN) return;
EC_INFO("Stopping Free-Run mode.\n");
del_timer_sync(&master->freerun_timer);
master->mode = EC_MASTER_MODE_IDLE;
}
/*****************************************************************************/
/**
Free-Run mode function.
*/
void ec_master_freerun(unsigned long data /**< private timer data = master */)
{
ec_master_t *master = (ec_master_t *) data;
ecrt_master_async_receive(master);
// watchdog command
ec_master_process_watch_command(master);
ec_master_queue_command(master, &master->watch_command);
master->slave_count = master->watch_command.working_counter;
ecrt_master_async_send(master);
master->freerun_timer.expires += HZ;
add_timer(&master->freerun_timer);
}
/*****************************************************************************/
/**
Initializes a sync manager configuration page.
The referenced memory (\a data) must be at least EC_SYNC_SIZE bytes.
*/
void ec_sync_config(const ec_sync_t *sync, /**< sync manager */
uint8_t *data /**> configuration memory */
)
{
EC_WRITE_U16(data, sync->physical_start_address);
EC_WRITE_U16(data + 2, sync->size);
EC_WRITE_U8 (data + 4, sync->control_byte);
EC_WRITE_U8 (data + 5, 0x00); // status byte (read only)
EC_WRITE_U16(data + 6, 0x0001); // enable
}
/*****************************************************************************/
/**
Initializes a sync manager configuration page with EEPROM data.
The referenced memory (\a data) must be at least EC_SYNC_SIZE bytes.
*/
void ec_eeprom_sync_config(const ec_eeprom_sync_t *sync, /**< sync manager */
uint8_t *data /**> configuration memory */
)
{
EC_WRITE_U16(data, sync->physical_start_address);
EC_WRITE_U16(data + 2, sync->length);
EC_WRITE_U8 (data + 4, sync->control_register);
EC_WRITE_U8 (data + 5, 0x00); // status byte (read only)
EC_WRITE_U16(data + 6, sync->enable ? 0x0001 : 0x0000); // enable
}
/*****************************************************************************/
/**
Initializes an FMMU configuration page.
The referenced memory (\a data) must be at least EC_FMMU_SIZE bytes.
*/
void ec_fmmu_config(const ec_fmmu_t *fmmu, /**< FMMU */
uint8_t *data /**> configuration memory */
)
{
EC_WRITE_U32(data, fmmu->logical_start_address);
EC_WRITE_U16(data + 4, fmmu->sync->size);
EC_WRITE_U8 (data + 6, 0x00); // logical start bit
EC_WRITE_U8 (data + 7, 0x07); // logical end bit
EC_WRITE_U16(data + 8, fmmu->sync->physical_start_address);
EC_WRITE_U8 (data + 10, 0x00); // physical start bit
EC_WRITE_U8 (data + 11, (fmmu->sync->control_byte & 0x04) ? 0x02 : 0x01);
EC_WRITE_U16(data + 12, 0x0001); // enable
EC_WRITE_U16(data + 14, 0x0000); // reserved
}
/*****************************************************************************/
/**
Formats attribute data for SysFS read access.
\return number of bytes to read
*/
ssize_t ec_show_master_attribute(struct kobject *kobj, /**< kobject */
struct attribute *attr, /**< attribute */
char *buffer /**< memory to store data */
)
{
ec_master_t *master = container_of(kobj, ec_master_t, kobj);
if (attr == &attr_slave_count) {
return sprintf(buffer, "%i\n", master->slave_count);
}
else if (attr == &attr_mode) {
switch (master->mode) {
case EC_MASTER_MODE_IDLE:
return sprintf(buffer, "IDLE\n");
case EC_MASTER_MODE_FREERUN:
return sprintf(buffer, "FREERUN\n");
case EC_MASTER_MODE_RUNNING:
return sprintf(buffer, "RUNNING\n");
}
}
return 0;
}
/*****************************************************************************/
/**
Processes the watchdog command.
*/
void ec_master_process_watch_command(ec_master_t *master
/**< EtherCAT master */
)
{
unsigned int first;
if (unlikely(master->watch_command.state == EC_CMD_INIT)) return;
first = 1;
if (master->watch_command.working_counter != master->slaves_responding ||
master->watch_command.data[0] != master->slave_states)
{
master->slaves_responding = master->watch_command.working_counter;
master->slave_states = master->watch_command.data[0];
EC_INFO("%i slave%s responding (", master->slaves_responding,
master->slaves_responding == 1 ? "" : "s");
if (master->slave_states & EC_SLAVE_STATE_INIT) {
printk("INIT");
first = 0;
}
if (master->slave_states & EC_SLAVE_STATE_PREOP) {
if (!first) printk(", ");
printk("PREOP");
first = 0;
}
if (master->slave_states & EC_SLAVE_STATE_SAVEOP) {
if (!first) printk(", ");
printk("SAVEOP");
first = 0;
}
if (master->slave_states & EC_SLAVE_STATE_OP) {
if (!first) printk(", ");
printk("OP");
}
printk(")\n");
}
}
/*****************************************************************************/
/**
Does the Ethernet-over-EtherCAT processing.
*/
void ec_master_run_eoe(ec_master_t *master /**< EtherCAT master */)
{
ec_eoe_t *eoe;
list_for_each_entry(eoe, &master->eoe_slaves, list) {
ec_eoe_run(eoe);
}
}
/******************************************************************************
* Realtime interface
*****************************************************************************/
/**
Creates a domain.
\return pointer to new domain on success, else NULL
\ingroup RealtimeInterface
*/
ec_domain_t *ecrt_master_create_domain(ec_master_t *master /**< master */)
{
ec_domain_t *domain, *last_domain;
unsigned int index;
if (!(domain = (ec_domain_t *) kmalloc(sizeof(ec_domain_t), GFP_KERNEL))) {
EC_ERR("Error allocating domain memory!\n");
goto out_return;
}
if (list_empty(&master->domains)) index = 0;
else {
last_domain = list_entry(master->domains.prev, ec_domain_t, list);
index = last_domain->index + 1;
}
if (ec_domain_init(domain, master, index)) {
EC_ERR("Failed to init domain.\n");
goto out_return;
}
if (kobject_add(&domain->kobj)) {
EC_ERR("Failed to add domain kobject.\n");
goto out_put;
}
list_add_tail(&domain->list, &master->domains);
return domain;
out_put:
kobject_put(&domain->kobj);
out_return:
return NULL;
}
/*****************************************************************************/
/**
Configures all slaves and leads them to the OP state.
Does the complete configuration and activation for all slaves. Sets sync
managers and FMMUs, and does the appropriate transitions, until the slave
is operational.
\return 0 in case of success, else < 0
\ingroup RealtimeInterface
*/
int ecrt_master_activate(ec_master_t *master /**< EtherCAT master */)
{
unsigned int j;
ec_slave_t *slave;
ec_command_t *command;
const ec_sync_t *sync;
const ec_slave_type_t *type;
const ec_fmmu_t *fmmu;
uint32_t domain_offset;
ec_domain_t *domain;
ec_eeprom_sync_t *eeprom_sync, mbox_sync;
command = &master->simple_command;
if (master->watch_command.state == EC_CMD_INIT) {
if (ec_command_brd(&master->watch_command, 0x130, 2)) {
EC_ERR("Failed to allocate watchdog command!\n");
return -1;
}
}
// allocate all domains
domain_offset = 0;
list_for_each_entry(domain, &master->domains, list) {
if (ec_domain_alloc(domain, domain_offset)) {
EC_ERR("Failed to allocate domain %X!\n", (u32) domain);
return -1;
}
domain_offset += domain->data_size;
}
// configure and activate slaves
list_for_each_entry(slave, &master->slaves, list) {
// change state to INIT
if (unlikely(ec_slave_state_change(slave, EC_SLAVE_STATE_INIT)))
return -1;
// check for slave registration
type = slave->type;
if (!type)
EC_WARN("Slave %i has unknown type!\n", slave->ring_position);
// check and reset CRC fault counters
ec_slave_check_crc(slave);
// reset FMMUs
if (slave->base_fmmu_count) {
if (ec_command_npwr(command, slave->station_address, 0x0600,
EC_FMMU_SIZE * slave->base_fmmu_count))
return -1;
memset(command->data, 0x00, EC_FMMU_SIZE * slave->base_fmmu_count);
if (unlikely(ec_master_simple_io(master, command))) {
EC_ERR("Resetting FMMUs failed on slave %i!\n",
slave->ring_position);
return -1;
}
}
// reset sync managers
if (slave->base_sync_count) {
if (ec_command_npwr(command, slave->station_address, 0x0800,
EC_SYNC_SIZE * slave->base_sync_count))
return -1;
memset(command->data, 0x00, EC_SYNC_SIZE * slave->base_sync_count);
if (unlikely(ec_master_simple_io(master, command))) {
EC_ERR("Resetting sync managers failed on slave %i!\n",
slave->ring_position);
return -1;
}
}
// configure sync managers
if (type) { // known slave type, take type's SM information
for (j = 0; type->sync_managers[j] && j < EC_MAX_SYNC; j++) {
sync = type->sync_managers[j];
if (ec_command_npwr(command, slave->station_address,
0x0800 + j * EC_SYNC_SIZE, EC_SYNC_SIZE))
return -1;
ec_sync_config(sync, command->data);
if (unlikely(ec_master_simple_io(master, command))) {
EC_ERR("Setting sync manager %i failed on slave %i!\n",
j, slave->ring_position);
return -1;
}
}
}
else if (slave->sii_mailbox_protocols) { // unknown type, but mailbox
// does the device supply SM configurations in its EEPROM?
if (!list_empty(&slave->eeprom_syncs)) {
list_for_each_entry(eeprom_sync, &slave->eeprom_syncs, list) {
EC_INFO("Sync manager %i...\n", eeprom_sync->index);
if (ec_command_npwr(command, slave->station_address,
0x800 + eeprom_sync->index *
EC_SYNC_SIZE,
EC_SYNC_SIZE)) return -1;
ec_eeprom_sync_config(eeprom_sync, command->data);
if (unlikely(ec_master_simple_io(master, command))) {
EC_ERR("Setting sync manager %i failed on slave %i!\n",
eeprom_sync->index, slave->ring_position);
return -1;
}
}
}
else { // no sync manager information; guess mailbox settings
mbox_sync.physical_start_address =
slave->sii_rx_mailbox_offset;
mbox_sync.length = slave->sii_rx_mailbox_size;
mbox_sync.control_register = 0x26;
mbox_sync.enable = 1;
if (ec_command_npwr(command, slave->station_address,
0x800,EC_SYNC_SIZE)) return -1;
ec_eeprom_sync_config(&mbox_sync, command->data);
if (unlikely(ec_master_simple_io(master, command))) {
EC_ERR("Setting sync manager 0 failed on slave %i!\n",
slave->ring_position);
return -1;
}
mbox_sync.physical_start_address =
slave->sii_tx_mailbox_offset;
mbox_sync.length = slave->sii_tx_mailbox_size;
mbox_sync.control_register = 0x22;
mbox_sync.enable = 1;
if (ec_command_npwr(command, slave->station_address,
0x808, EC_SYNC_SIZE)) return -1;
ec_eeprom_sync_config(&mbox_sync, command->data);
if (unlikely(ec_master_simple_io(master, command))) {
EC_ERR("Setting sync manager 1 failed on slave %i!\n",
slave->ring_position);
return -1;
}
}
EC_INFO("Mailbox configured for unknown slave %i\n",
slave->ring_position);
}
// change state to PREOP
if (unlikely(ec_slave_state_change(slave, EC_SLAVE_STATE_PREOP)))
return -1;
// stop activation here for slaves without type
if (!type) continue;
// slaves that are not registered are only brought into PREOP
// state -> nice blinking and mailbox communication possible
if (!slave->registered && !slave->type->special) {
EC_WARN("Slave %i was not registered!\n", slave->ring_position);
continue;
}
// configure FMMUs
for (j = 0; j < slave->fmmu_count; j++) {
fmmu = &slave->fmmus[j];
if (ec_command_npwr(command, slave->station_address,
0x0600 + j * EC_FMMU_SIZE, EC_FMMU_SIZE))
return -1;
ec_fmmu_config(fmmu, command->data);
if (unlikely(ec_master_simple_io(master, command))) {
EC_ERR("Setting FMMU %i failed on slave %i!\n",
j, slave->ring_position);
return -1;
}
}
// change state to SAVEOP
if (unlikely(ec_slave_state_change(slave, EC_SLAVE_STATE_SAVEOP)))
return -1;
// change state to OP
if (unlikely(ec_slave_state_change(slave, EC_SLAVE_STATE_OP)))
return -1;
}
master->slaves_responding = 0;
master->slave_states = EC_SLAVE_STATE_INIT;
return 0;
}
/*****************************************************************************/
/**
Resets all slaves to INIT state.
\ingroup RealtimeInterface
*/
void ecrt_master_deactivate(ec_master_t *master /**< EtherCAT master */)
{
ec_slave_t *slave;
list_for_each_entry(slave, &master->slaves, list) {
ec_slave_check_crc(slave);
ec_slave_state_change(slave, EC_SLAVE_STATE_INIT);
}
}
/*****************************************************************************/
/**
Fetches the SDO dictionaries of all slaves.
Slaves that do not support the CoE protocol are left out.
\return 0 in case of success, else < 0
\ingroup RealtimeInterface
*/
int ecrt_master_fetch_sdo_lists(ec_master_t *master /**< EtherCAT master */)
{
ec_slave_t *slave;
list_for_each_entry(slave, &master->slaves, list) {
if (slave->sii_mailbox_protocols & EC_MBOX_COE) {
if (unlikely(ec_slave_fetch_sdo_list(slave))) {
EC_ERR("Failed to fetch SDO list on slave %i!\n",
slave->ring_position);
return -1;
}
}
}
return 0;
}
/*****************************************************************************/
/**
Sends queued commands and waits for their reception.
\ingroup RealtimeInterface
*/
void ecrt_master_sync_io(ec_master_t *master /**< EtherCAT master */)
{
ec_command_t *command, *n;
unsigned int commands_sent;
cycles_t t_start, t_end, t_timeout;
// send commands
ecrt_master_async_send(master);
t_start = get_cycles(); // measure io time
t_timeout = (cycles_t) master->timeout * (cpu_khz / 1000);
while (1) { // active waiting
ec_device_call_isr(master->device);
t_end = get_cycles(); // take current time
if (t_end - t_start >= t_timeout) break; // timeout!
commands_sent = 0;
list_for_each_entry_safe(command, n, &master->command_queue, queue) {
if (command->state == EC_CMD_RECEIVED)
list_del_init(&command->queue);
else if (command->state == EC_CMD_SENT)
commands_sent++;
}
if (!commands_sent) break;
}
// timeout; dequeue all commands
list_for_each_entry_safe(command, n, &master->command_queue, queue) {
switch (command->state) {
case EC_CMD_SENT:
case EC_CMD_QUEUED:
command->state = EC_CMD_TIMEOUT;
master->stats.timeouts++;
ec_master_output_stats(master);
break;
case EC_CMD_RECEIVED:
master->stats.delayed++;
ec_master_output_stats(master);
break;
default:
break;
}
list_del_init(&command->queue);
}
}
/*****************************************************************************/
/**
Asynchronous sending of commands.
\ingroup RealtimeInterface
*/
void ecrt_master_async_send(ec_master_t *master /**< EtherCAT master */)
{
ec_command_t *command, *n;
if (unlikely(!master->device->link_state)) {
// link is down, no command can be sent
list_for_each_entry_safe(command, n, &master->command_queue, queue) {
command->state = EC_CMD_ERROR;
list_del_init(&command->queue);
}
// query link state
ec_device_call_isr(master->device);
return;
}
// send frames
ec_master_send_commands(master);
}
/*****************************************************************************/
/**
Asynchronous receiving of commands.
\ingroup RealtimeInterface
*/
void ecrt_master_async_receive(ec_master_t *master /**< EtherCAT master */)
{
ec_command_t *command, *next;
ec_device_call_isr(master->device);
// dequeue all received commands
list_for_each_entry_safe(command, next, &master->command_queue, queue)
if (command->state == EC_CMD_RECEIVED) list_del_init(&command->queue);
// dequeue all remaining commands
list_for_each_entry_safe(command, next, &master->command_queue, queue) {
switch (command->state) {
case EC_CMD_SENT:
case EC_CMD_QUEUED:
command->state = EC_CMD_TIMEOUT;
master->stats.timeouts++;
ec_master_output_stats(master);
break;
default:
break;
}
list_del_init(&command->queue);
}
}
/*****************************************************************************/
/**
Prepares synchronous IO.
Queues all domain commands and sends them. Then waits a certain time, so
that ecrt_master_sasync_receive() can be called securely.
\ingroup RealtimeInterface
*/
void ecrt_master_prepare_async_io(ec_master_t *master /**< EtherCAT master */)
{
ec_domain_t *domain;
cycles_t t_start, t_end, t_timeout;
// queue commands of all domains
list_for_each_entry(domain, &master->domains, list)
ecrt_domain_queue(domain);
ecrt_master_async_send(master);
t_start = get_cycles(); // take sending time
t_timeout = (cycles_t) master->timeout * (cpu_khz / 1000);
// active waiting
while (1) {
t_end = get_cycles();
if (t_end - t_start >= t_timeout) break;
}
}
/*****************************************************************************/
/**
Does all cyclic master work.
\ingroup RealtimeInterface
*/
void ecrt_master_run(ec_master_t *master /**< EtherCAT master */)
{
// output statistics
ec_master_output_stats(master);
// watchdog command
ec_master_process_watch_command(master);
ec_master_queue_command(master, &master->watch_command);
// Ethernet-over-EtherCAT
ec_master_run_eoe(master);
}
/*****************************************************************************/
/**
Translates an ASCII coded bus-address to a slave pointer.
These are the valid addressing schemes:
- \a "X" = the X. slave on the bus,
- \a "X:Y" = the Y. slave after the X. branch (bus coupler),
- \a "#X" = the slave with alias X,
- \a "#X:Y" = the Y. slave after the branch (bus coupler) with alias X.
X and Y are zero-based indices and may be provided in hexadecimal or octal
notation (with respective prefix).
\return pointer to the slave on success, else NULL
\ingroup RealtimeInterface
*/
ec_slave_t *ecrt_master_get_slave(const ec_master_t *master, /**< Master */
const char *address /**< address string */
)
{
unsigned long first, second;
char *remainder, *remainder2;
unsigned int alias_requested, alias_found;
ec_slave_t *alias_slave = NULL, *slave;
if (!address || address[0] == 0) return NULL;
alias_requested = 0;
if (address[0] == '#') {
alias_requested = 1;
address++;
}
first = simple_strtoul(address, &remainder, 0);
if (remainder == address) {
EC_ERR("Slave address \"%s\" - First number empty!\n", address);
return NULL;
}
if (alias_requested) {
alias_found = 0;
list_for_each_entry(alias_slave, &master->slaves, list) {
if (alias_slave->sii_alias == first) {
alias_found = 1;
break;
}
}
if (!alias_found) {
EC_ERR("Slave address \"%s\" - Alias not found!\n", address);
return NULL;
}
}
if (!remainder[0]) { // absolute position
if (alias_requested) {
return alias_slave;
}
else {
list_for_each_entry(slave, &master->slaves, list) {
if (slave->ring_position == first) return slave;
}
EC_ERR("Slave address \"%s\" - Absolute position invalid!\n",
address);
}
}
else if (remainder[0] == ':') { // field position
remainder++;
second = simple_strtoul(remainder, &remainder2, 0);
if (remainder2 == remainder) {
EC_ERR("Slave address \"%s\" - Second number empty!\n", address);
return NULL;
}
if (remainder2[0]) {
EC_ERR("Slave address \"%s\" - Invalid trailer!\n", address);
return NULL;
}
if (alias_requested) {
if (!alias_slave->type ||
alias_slave->type->special != EC_TYPE_BUS_COUPLER) {
EC_ERR("Slave address \"%s\": Alias slave must be bus coupler"
" in colon mode.\n", address);
return NULL;
}
list_for_each_entry(slave, &master->slaves, list) {
if (slave->coupler_index == alias_slave->coupler_index
&& slave->coupler_subindex == second)
return slave;
}
EC_ERR("Slave address \"%s\" - Bus coupler %i has no %lu. slave"
" following!\n", address, alias_slave->ring_position,
second);
return NULL;
}
else {
list_for_each_entry(slave, &master->slaves, list) {
if (slave->coupler_index == first
&& slave->coupler_subindex == second) return slave;
}
}
}
else
EC_ERR("Slave address \"%s\" - Invalid format!\n", address);
return NULL;
}
/*****************************************************************************/
/**
Sets the debug level of the master.
The following levels are valid:
- 1: only output positions marks and basic data
- 2: additional frame data output
\ingroup RealtimeInterface
*/
void ecrt_master_debug(ec_master_t *master, /**< EtherCAT master */
int level /**< debug level */
)
{
if (level != master->debug_level) {
master->debug_level = level;
EC_INFO("Master debug level set to %i.\n", level);
}
}
/*****************************************************************************/
/**
Outputs all master information.
Verbosity:
- 0: Only slave types and positions
- 1: with EEPROM contents
- >1: with SDO dictionaries
\ingroup RealtimeInterface
*/
void ecrt_master_print(const ec_master_t *master, /**< EtherCAT master */
unsigned int verbosity /**< verbosity level */
)
{
ec_slave_t *slave;
ec_eoe_t *eoe;
EC_INFO("*** Begin master information ***\n");
if (master->slave_count) {
EC_INFO("Slave list:\n");
list_for_each_entry(slave, &master->slaves, list)
ec_slave_print(slave, verbosity);
}
if (!list_empty(&master->eoe_slaves)) {
EC_INFO("Ethernet-over-EtherCAT (EoE) objects:\n");
list_for_each_entry(eoe, &master->eoe_slaves, list) {
ec_eoe_print(eoe);
}
}
EC_INFO("*** End master information ***\n");
}
/*****************************************************************************/
/** \cond */
EXPORT_SYMBOL(ecrt_master_create_domain);
EXPORT_SYMBOL(ecrt_master_activate);
EXPORT_SYMBOL(ecrt_master_deactivate);
EXPORT_SYMBOL(ecrt_master_fetch_sdo_lists);
EXPORT_SYMBOL(ecrt_master_prepare_async_io);
EXPORT_SYMBOL(ecrt_master_sync_io);
EXPORT_SYMBOL(ecrt_master_async_send);
EXPORT_SYMBOL(ecrt_master_async_receive);
EXPORT_SYMBOL(ecrt_master_run);
EXPORT_SYMBOL(ecrt_master_debug);
EXPORT_SYMBOL(ecrt_master_print);
EXPORT_SYMBOL(ecrt_master_get_slave);
/** \endcond */
/*****************************************************************************/