fp@39: /******************************************************************************
fp@0:  *
fp@39:  *  $Id$
fp@0:  *
fp@197:  *  Copyright (C) 2006  Florian Pose, Ingenieurgemeinschaft IgH
fp@197:  *
fp@197:  *  This file is part of the IgH EtherCAT Master.
fp@197:  *
fp@197:  *  The IgH EtherCAT Master is free software; you can redistribute it
fp@197:  *  and/or modify it under the terms of the GNU General Public License
fp@246:  *  as published by the Free Software Foundation; either version 2 of the
fp@246:  *  License, or (at your option) any later version.
fp@197:  *
fp@197:  *  The IgH EtherCAT Master is distributed in the hope that it will be
fp@197:  *  useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
fp@197:  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
fp@197:  *  GNU General Public License for more details.
fp@197:  *
fp@197:  *  You should have received a copy of the GNU General Public License
fp@197:  *  along with the IgH EtherCAT Master; if not, write to the Free Software
fp@197:  *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
fp@197:  *
fp@246:  *  The right to use EtherCAT Technology is granted and comes free of
fp@246:  *  charge under condition of compatibility of product made by
fp@246:  *  Licensee. People intending to distribute/sell products based on the
fp@246:  *  code, have to sign an agreement to guarantee that products using
fp@246:  *  software based on IgH EtherCAT master stay compatible with the actual
fp@246:  *  EtherCAT specification (which are released themselves as an open
fp@246:  *  standard) as the (only) precondition to have the right to use EtherCAT
fp@246:  *  Technology, IP and trade marks.
fp@246:  *
fp@39:  *****************************************************************************/
fp@0: 
fp@199: /**
fp@199:    \file
fp@199:    EtherCAT master methods.
fp@199: */
fp@199: 
fp@199: /*****************************************************************************/
fp@199: 
fp@24: #include <linux/module.h>
fp@0: #include <linux/kernel.h>
fp@0: #include <linux/string.h>
fp@0: #include <linux/slab.h>
fp@0: #include <linux/delay.h>
fp@0: 
fp@104: #include "../include/ecrt.h"
fp@54: #include "globals.h"
fp@54: #include "master.h"
fp@55: #include "slave.h"
fp@54: #include "device.h"
fp@293: #include "datagram.h"
fp@1745: #ifdef EC_EOE
fp@145: #include "ethernet.h"
fp@1745: #endif
fp@0: 
fp@39: /*****************************************************************************/
fp@0: 
fp@1732: void ec_master_destroy_domains(ec_master_t *);
fp@1744: static int ec_master_idle_thread(ec_master_t *);
fp@1744: static int ec_master_operation_thread(ec_master_t *);
fp@1745: #ifdef EC_EOE
fp@251: void ec_master_eoe_run(unsigned long);
fp@1745: #endif
fp@179: ssize_t ec_show_master_attribute(struct kobject *, struct attribute *, char *);
fp@268: ssize_t ec_store_master_attribute(struct kobject *, struct attribute *,
fp@268:                                   const char *, size_t);
fp@179: 
fp@179: /*****************************************************************************/
fp@179: 
fp@199: /** \cond */
fp@199: 
fp@1716: EC_SYSFS_READ_ATTR(info);
fp@1715: EC_SYSFS_READ_WRITE_ATTR(debug_level);
fp@178: 
fp@178: static struct attribute *ec_def_attrs[] = {
fp@1716:     &attr_info,
fp@1715:     &attr_debug_level,
fp@178:     NULL,
fp@178: };
fp@178: 
fp@178: static struct sysfs_ops ec_sysfs_ops = {
fp@178:     .show = &ec_show_master_attribute,
fp@268:     .store = ec_store_master_attribute
fp@178: };
fp@178: 
fp@178: static struct kobj_type ktype_ec_master = {
fp@1744:     .release = NULL,
fp@178:     .sysfs_ops = &ec_sysfs_ops,
fp@178:     .default_attrs = ec_def_attrs
fp@178: };
fp@178: 
fp@199: /** \endcond */
fp@199: 
fp@178: /*****************************************************************************/
fp@178: 
fp@0: /**
fp@195:    Master constructor.
fp@195:    \return 0 in case of success, else < 0
fp@195: */
fp@195: 
fp@195: int ec_master_init(ec_master_t *master, /**< EtherCAT master */
fp@1744:         struct kobject *module_kobj, /**< kobject of the master module */
fp@1744:         unsigned int index, /**< master index */
fp@1744:         const uint8_t *main_mac, /**< MAC address of main device */
fp@1744:         const uint8_t *backup_mac /**< MAC address of backup device */
fp@1744:         )
fp@1744: {
fp@251:     unsigned int i;
fp@251: 
fp@178:     master->index = index;
fp@1744:     master->reserved = 0;
fp@1744: 
fp@1744:     master->main_mac = main_mac;
fp@1744:     master->backup_mac = backup_mac;
fp@1731:     init_MUTEX(&master->device_sem);
fp@1732: 
fp@1732:     master->mode = EC_MASTER_MODE_ORPHANED;
fp@1744:     master->injection_seq_fsm = 0;
fp@1744:     master->injection_seq_rt = 0;
fp@1732: 
fp@182:     INIT_LIST_HEAD(&master->slaves);
fp@1732:     master->slave_count = 0;
fp@1744:     
fp@1744:     master->scan_state = EC_REQUEST_IN_PROGRESS;
fp@1744:     master->allow_scan = 1;
fp@1744:     init_MUTEX(&master->scan_sem);
fp@1744:     init_waitqueue_head(&master->scan_queue);
fp@1744: 
fp@1744:     master->config_state = EC_REQUEST_COMPLETE;
fp@1744:     master->allow_config = 1;
fp@1744:     init_MUTEX(&master->config_sem);
fp@1744:     init_waitqueue_head(&master->config_queue);
fp@1744:     
fp@293:     INIT_LIST_HEAD(&master->datagram_queue);
fp@1732:     master->datagram_index = 0;
fp@1732: 
fp@95:     INIT_LIST_HEAD(&master->domains);
fp@1732:     master->debug_level = 0;
fp@1732: 
fp@1732:     master->stats.timeouts = 0;
fp@1732:     master->stats.corrupted = 0;
fp@1732:     master->stats.unmatched = 0;
fp@1732:     master->stats.output_jiffies = 0;
fp@1732: 
fp@1732:     for (i = 0; i < HZ; i++) {
fp@1732:         master->idle_cycle_times[i] = 0;
fp@1745: #ifdef EC_EOE
fp@1732:         master->eoe_cycle_times[i] = 0;
fp@1745: #endif
fp@1732:     }
fp@1732:     master->idle_cycle_time_pos = 0;
fp@1745: #ifdef EC_EOE
fp@1732:     master->eoe_cycle_time_pos = 0;
fp@1732: 
fp@226:     init_timer(&master->eoe_timer);
fp@251:     master->eoe_timer.function = ec_master_eoe_run;
fp@226:     master->eoe_timer.data = (unsigned long) master;
fp@251:     master->eoe_running = 0;
fp@1732:     INIT_LIST_HEAD(&master->eoe_handlers);
fp@1745: #endif
fp@1732: 
fp@1732:     master->internal_lock = SPIN_LOCK_UNLOCKED;
fp@1732:     master->request_cb = NULL;
fp@1732:     master->release_cb = NULL;
fp@1732:     master->cb_data = NULL;
fp@1732: 
fp@1744:     INIT_LIST_HEAD(&master->eeprom_requests);
fp@1744:     init_MUTEX(&master->eeprom_sem);
fp@1744:     init_waitqueue_head(&master->eeprom_queue);
fp@1744: 
fp@1744:     INIT_LIST_HEAD(&master->sdo_requests);
fp@1732:     init_MUTEX(&master->sdo_sem);
fp@1744:     init_waitqueue_head(&master->sdo_queue);
fp@1744: 
fp@1744:     // init devices
fp@1744:     if (ec_device_init(&master->main_device, master))
fp@1744:         goto out_return;
fp@1744: 
fp@1744:     if (ec_device_init(&master->backup_device, master))
fp@1744:         goto out_clear_main;
fp@251: 
fp@1739:     // init state machine datagram
fp@1739:     ec_datagram_init(&master->fsm_datagram);
fp@1745:     snprintf(master->fsm_datagram.name, EC_DATAGRAM_NAME_SIZE, "master-fsm");
fp@1739:     if (ec_datagram_prealloc(&master->fsm_datagram, EC_MAX_DATA_SIZE)) {
fp@1739:         EC_ERR("Failed to allocate FSM datagram.\n");
fp@1744:         goto out_clear_backup;
fp@1739:     }
fp@1739: 
fp@251:     // create state machine object
fp@1739:     ec_fsm_master_init(&master->fsm, master, &master->fsm_datagram);
fp@226: 
fp@195:     // init kobject and add it to the hierarchy
fp@178:     memset(&master->kobj, 0x00, sizeof(struct kobject));
fp@178:     kobject_init(&master->kobj);
fp@178:     master->kobj.ktype = &ktype_ec_master;
fp@1744:     master->kobj.parent = module_kobj;
fp@1744:     
fp@1744:     if (kobject_set_name(&master->kobj, "master%i", index)) {
fp@1744:         EC_ERR("Failed to set master kobject name.\n");
fp@238:         kobject_put(&master->kobj);
fp@1744:         goto out_clear_fsm;
fp@1744:     }
fp@1744:     
fp@1732:     if (kobject_add(&master->kobj)) {
fp@1744:         EC_ERR("Failed to add master kobject.\n");
fp@1732:         kobject_put(&master->kobj);
fp@1744:         goto out_clear_fsm;
fp@1732:     }
fp@1732: 
fp@178:     return 0;
fp@226: 
fp@1744: out_clear_fsm:
fp@1744:     ec_fsm_master_clear(&master->fsm);
fp@1744: out_clear_backup:
fp@1744:     ec_device_clear(&master->backup_device);
fp@1744: out_clear_main:
fp@1744:     ec_device_clear(&master->main_device);
fp@1744: out_return:
fp@1744:     return -1;
fp@1744: }
fp@1744: 
fp@1744: /*****************************************************************************/
fp@1744: 
fp@1744: /**
fp@1744:    Clear and free master.
fp@1744:    This method is called by the kobject,
fp@1744:    once there are no more references to it.
fp@1744: */
fp@1744: 
fp@1744: void ec_master_clear(
fp@1744:         ec_master_t *master /**< EtherCAT master */
fp@1744:         )
fp@1744: {
fp@1745: #ifdef EC_EOE
fp@1744:     ec_master_clear_eoe_handlers(master);
fp@1745: #endif
fp@1744:     ec_master_destroy_slaves(master);
fp@1744:     ec_master_destroy_domains(master);
fp@1744:     ec_fsm_master_clear(&master->fsm);
fp@1744:     ec_datagram_clear(&master->fsm_datagram);
fp@1744:     ec_device_clear(&master->backup_device);
fp@1744:     ec_device_clear(&master->main_device);
fp@1744: 
fp@1744:     // destroy self
fp@1744:     kobject_del(&master->kobj);
fp@1744:     kobject_put(&master->kobj);
fp@1744: }
fp@1744: 
fp@1744: /*****************************************************************************/
fp@1744: 
fp@1745: #ifdef EC_EOE
fp@1744: /**
fp@1744:  * Clear and free all EoE handlers.
fp@1744:  */
fp@1744: 
fp@1744: void ec_master_clear_eoe_handlers(
fp@1744:         ec_master_t *master /**< EtherCAT master */
fp@1744:         )
fp@1744: {
fp@1744:     ec_eoe_t *eoe, *next;
fp@1744: 
fp@1744:     list_for_each_entry_safe(eoe, next, &master->eoe_handlers, list) {
fp@251:         list_del(&eoe->list);
fp@251:         ec_eoe_clear(eoe);
fp@251:         kfree(eoe);
fp@251:     }
fp@1732: }
fp@1745: #endif
fp@1732: 
fp@1732: /*****************************************************************************/
fp@1732: 
fp@1732: /**
fp@1732:    Destroy all slaves.
fp@1732: */
fp@1732: 
fp@1732: void ec_master_destroy_slaves(ec_master_t *master)
fp@1732: {
fp@1732:     ec_slave_t *slave, *next_slave;
fp@1732: 
fp@1732:     list_for_each_entry_safe(slave, next_slave, &master->slaves, list) {
fp@1732:         list_del(&slave->list);
fp@1732:         ec_slave_destroy(slave);
fp@1732:     }
fp@1732: 
fp@1732:     master->slave_count = 0;
fp@1732: }
fp@1732: 
fp@1732: /*****************************************************************************/
fp@1732: 
fp@1732: /**
fp@1732:    Destroy all domains.
fp@1732: */
fp@1732: 
fp@1732: void ec_master_destroy_domains(ec_master_t *master)
fp@1732: {
fp@144:     ec_domain_t *domain, *next_d;
fp@251: 
fp@144:     list_for_each_entry_safe(domain, next_d, &master->domains, list) {
fp@98:         list_del(&domain->list);
fp@1732:         ec_domain_destroy(domain);
fp@1732:     }
fp@1732: }
fp@1732: 
fp@1732: /*****************************************************************************/
fp@1732: 
fp@1732: /**
fp@1739:    Internal locking callback.
fp@1739: */
fp@1739: 
fp@1739: int ec_master_request_cb(void *master /**< callback data */)
fp@1739: {
fp@1739:     spin_lock(&((ec_master_t *) master)->internal_lock);
fp@1739:     return 0;
fp@1739: }
fp@1739: 
fp@1739: /*****************************************************************************/
fp@1739: 
fp@1739: /**
fp@1739:    Internal unlocking callback.
fp@1739: */
fp@1739: 
fp@1739: void ec_master_release_cb(void *master /**< callback data */)
fp@1739: {
fp@1739:     spin_unlock(&((ec_master_t *) master)->internal_lock);
fp@1739: }
fp@1739: 
fp@1739: /*****************************************************************************/
fp@1739: 
fp@1739: /**
fp@1739:  * Starts the master thread.
fp@1744:  */
fp@1744: 
fp@1744: int ec_master_thread_start(
fp@1744:         ec_master_t *master, /**< EtherCAT master */
fp@1744:         int (*thread_func)(ec_master_t *) /**< thread function to start */
fp@1744:         )
fp@1739: {
fp@1739:     init_completion(&master->thread_exit);
fp@1744: 
fp@1739:     EC_INFO("Starting master thread.\n");
fp@1744:     if (!(master->thread_id = kernel_thread((int (*)(void *)) thread_func,
fp@1744:                     master, CLONE_KERNEL)))
fp@1739:         return -1;
fp@1739:     
fp@1739:     return 0;
fp@1739: }
fp@1739: 
fp@1739: /*****************************************************************************/
fp@1739: 
fp@1739: /**
fp@1739:  * Stops the master thread.
fp@1744:  */
fp@1739: 
fp@1739: void ec_master_thread_stop(ec_master_t *master /**< EtherCAT master */)
fp@1739: {
fp@1744:     if (!master->thread_id) {
fp@1744:         EC_WARN("ec_master_thread_stop: Already finished!\n");
fp@1744:         return;
fp@1744:     }
fp@1744: 
fp@1744:     kill_proc(master->thread_id, SIGTERM, 1);
fp@1744:     wait_for_completion(&master->thread_exit);
fp@1744:     EC_INFO("Master thread exited.\n");
fp@1744: 
fp@1744:     if (master->fsm_datagram.state != EC_DATAGRAM_SENT) return;
fp@1744:     
fp@1744:     // wait for FSM datagram
fp@1744:     while (get_cycles() - master->fsm_datagram.cycles_sent
fp@1744:             < (cycles_t) EC_IO_TIMEOUT /* us */ * (cpu_khz / 1000))
fp@1744:         schedule();
fp@1739: }
fp@1739: 
fp@1739: /*****************************************************************************/
fp@1739: 
fp@1739: /**
fp@1739:  * Transition function from ORPHANED to IDLE mode.
fp@1744:  */
fp@1732: 
fp@1732: int ec_master_enter_idle_mode(ec_master_t *master /**< EtherCAT master */)
fp@1732: {
fp@1739:     master->request_cb = ec_master_request_cb;
fp@1739:     master->release_cb = ec_master_release_cb;
fp@1739:     master->cb_data = master;
fp@1744: 
fp@1732:     master->mode = EC_MASTER_MODE_IDLE;
fp@1744:     if (ec_master_thread_start(master, ec_master_idle_thread)) {
fp@1739:         master->mode = EC_MASTER_MODE_ORPHANED;
fp@1739:         return -1;
fp@1739:     }
fp@1739: 
fp@1732:     return 0;
fp@1732: }
fp@1732: 
fp@1732: /*****************************************************************************/
fp@1732: 
fp@1732: /**
fp@1739:  * Transition function from IDLE to ORPHANED mode.
fp@1744:  */
fp@1732: 
fp@1732: void ec_master_leave_idle_mode(ec_master_t *master /**< EtherCAT master */)
fp@1732: {
fp@1739:     master->mode = EC_MASTER_MODE_ORPHANED;
fp@1739:     
fp@1745: #ifdef EC_EOE
fp@1732:     ec_master_eoe_stop(master);
fp@1745: #endif
fp@1739:     ec_master_thread_stop(master);
fp@1744:     ec_master_destroy_slaves(master);
fp@1732: }
fp@1732: 
fp@1732: /*****************************************************************************/
fp@1732: 
fp@1732: /**
fp@1739:  * Transition function from IDLE to OPERATION mode.
fp@1744:  */
fp@1732: 
fp@1732: int ec_master_enter_operation_mode(ec_master_t *master /**< EtherCAT master */)
fp@1732: {
fp@1732:     ec_slave_t *slave;
fp@1745: #ifdef EC_EOE
fp@1744:     ec_eoe_t *eoe;
fp@1745: #endif
fp@1744: 
fp@1744:     down(&master->config_sem);
fp@1744:     master->allow_config = 0; // temporarily disable slave configuration
fp@1744:     up(&master->config_sem);
fp@1744: 
fp@1744:     // wait for slave configuration to complete
fp@1744:     if (wait_event_interruptible(master->config_queue,
fp@1744:                 master->config_state != EC_REQUEST_IN_PROGRESS)) {
fp@1744:         EC_INFO("Finishing slave configuration interrupted by signal.\n");
fp@1744:         goto out_allow;
fp@1744:     }
fp@1744: 
fp@1744:     if (master->debug_level)
fp@1744:         EC_DBG("Waiting for pending slave configuration returned.\n");
fp@1744: 
fp@1744:     down(&master->scan_sem);
fp@1744:     master->allow_scan = 0; // 'lock' the slave list
fp@1744:     up(&master->scan_sem);
fp@1744: 
fp@1744:     // wait for slave scan to complete
fp@1744:     if (wait_event_interruptible(master->scan_queue,
fp@1744:                 master->scan_state != EC_REQUEST_IN_PROGRESS)) {
fp@1744:         EC_INFO("Waiting for slave scan interrupted by signal.\n");
fp@1744:         goto out_allow;
fp@1744:     }
fp@1744: 
fp@1744:     if (master->debug_level)
fp@1744:         EC_DBG("Waiting for pending slave scan returned.\n");
fp@1744: 
fp@1744:     // set states for all slaves
fp@1744:     list_for_each_entry(slave, &master->slaves, list) {
fp@1744:         ec_slave_request_state(slave, EC_SLAVE_STATE_PREOP);
fp@1744:     }
fp@1745: #ifdef EC_EOE
fp@1744:     // ... but set EoE slaves to OP
fp@1744:     list_for_each_entry(eoe, &master->eoe_handlers, list) {
fp@1744:         if (ec_eoe_is_open(eoe))
fp@1744:             ec_slave_request_state(eoe->slave, EC_SLAVE_STATE_OP);
fp@1744:     }
fp@1745: #endif
fp@1744: 
fp@1744:     if (master->debug_level)
fp@1744:         EC_DBG("Switching to operation mode.\n");
fp@1732: 
fp@1732:     master->mode = EC_MASTER_MODE_OPERATION;
fp@1744:     master->pdo_slaves_offline = 0; // assume all PDO slaves online
fp@1744:     master->frames_timed_out = 0;
fp@1744:     master->ext_request_cb = NULL;
fp@1744:     master->ext_release_cb = NULL;
fp@1744:     master->ext_cb_data = NULL;
fp@1732:     return 0;
fp@1744:     
fp@1744: out_allow:
fp@1744:     master->allow_scan = 1;
fp@1744:     master->allow_config = 1;
fp@1732:     return -1;
fp@1732: }
fp@1732: 
fp@1732: /*****************************************************************************/
fp@1732: 
fp@1732: /**
fp@1739:  * Transition function from OPERATION to IDLE mode.
fp@1744:  */
fp@1732: 
fp@1732: void ec_master_leave_operation_mode(ec_master_t *master
fp@1732:                                     /**< EtherCAT master */)
fp@1732: {
fp@1732:     ec_slave_t *slave;
fp@1745: #ifdef EC_EOE
fp@1744:     ec_eoe_t *eoe;
fp@1745: #endif
fp@1744: 
fp@1744:     master->mode = EC_MASTER_MODE_IDLE;
fp@1744: 
fp@1745: #ifdef EC_EOE
fp@1744:     ec_master_eoe_stop(master);
fp@1745: #endif
fp@1744:     ec_master_thread_stop(master);
fp@1744:     
fp@1744:     master->request_cb = ec_master_request_cb;
fp@1744:     master->release_cb = ec_master_release_cb;
fp@1744:     master->cb_data = master;
fp@1739:     
fp@1732:     // set states for all slaves
fp@1732:     list_for_each_entry(slave, &master->slaves, list) {
fp@1732:         ec_slave_reset(slave);
fp@1732:         ec_slave_request_state(slave, EC_SLAVE_STATE_PREOP);
fp@1744:     }
fp@1745: #ifdef EC_EOE
fp@1744:     // ... but leave EoE slaves in OP
fp@1744:     list_for_each_entry(eoe, &master->eoe_handlers, list) {
fp@1744:         if (ec_eoe_is_open(eoe))
fp@1744:             ec_slave_request_state(eoe->slave, EC_SLAVE_STATE_OP);
fp@1744:     }
fp@1745: #endif
fp@1732: 
fp@1732:     ec_master_destroy_domains(master);
fp@1744:     
fp@1744:     if (ec_master_thread_start(master, ec_master_idle_thread))
fp@1744:         EC_WARN("Failed to restart master thread!\n");
fp@1745: #ifdef EC_EOE
fp@1744:     ec_master_eoe_start(master);
fp@1745: #endif
fp@1744: 
fp@1744:     master->allow_scan = 1;
fp@1744:     master->allow_config = 1;
fp@74: }
fp@74: 
fp@74: /*****************************************************************************/
fp@74: 
fp@74: /**
fp@293:    Places a datagram in the datagram queue.
fp@293: */
fp@293: 
fp@293: void ec_master_queue_datagram(ec_master_t *master, /**< EtherCAT master */
fp@293:                               ec_datagram_t *datagram /**< datagram */
fp@293:                               )
fp@293: {
fp@293:     ec_datagram_t *queued_datagram;
fp@293: 
fp@293:     // check, if the datagram is already queued
fp@293:     list_for_each_entry(queued_datagram, &master->datagram_queue, queue) {
fp@293:         if (queued_datagram == datagram) {
fp@1745:             datagram->skip_count++;
fp@1744:             if (master->debug_level)
fp@1744:                 EC_DBG("skipping datagram %x.\n", (unsigned int) datagram);
fp@1715:             datagram->state = EC_DATAGRAM_QUEUED;
fp@98:             return;
fp@98:         }
fp@98:     }
fp@98: 
fp@293:     list_add_tail(&datagram->queue, &master->datagram_queue);
fp@1715:     datagram->state = EC_DATAGRAM_QUEUED;
fp@293: }
fp@293: 
fp@293: /*****************************************************************************/
fp@293: 
fp@293: /**
fp@293:    Sends the datagrams in the queue.
fp@195:    \return 0 in case of success, else < 0
fp@195: */
fp@195: 
fp@293: void ec_master_send_datagrams(ec_master_t *master /**< EtherCAT master */)
fp@293: {
fp@1732:     ec_datagram_t *datagram, *next;
fp@293:     size_t datagram_size;
fp@98:     uint8_t *frame_data, *cur_data;
fp@98:     void *follows_word;
fp@1732:     cycles_t cycles_start, cycles_sent, cycles_end;
fp@1732:     unsigned long jiffies_sent;
fp@293:     unsigned int frame_count, more_datagrams_waiting;
fp@1732:     struct list_head sent_datagrams;
fp@1732: 
fp@1732:     cycles_start = get_cycles();
fp@176:     frame_count = 0;
fp@1732:     INIT_LIST_HEAD(&sent_datagrams);
fp@208: 
fp@1715:     if (unlikely(master->debug_level > 1))
fp@293:         EC_DBG("ec_master_send_datagrams\n");
fp@98: 
fp@176:     do {
fp@195:         // fetch pointer to transmit socket buffer
fp@1744:         frame_data = ec_device_tx_data(&master->main_device);
fp@176:         cur_data = frame_data + EC_FRAME_HEADER_SIZE;
fp@176:         follows_word = NULL;
fp@293:         more_datagrams_waiting = 0;
fp@293: 
fp@293:         // fill current frame with datagrams
fp@293:         list_for_each_entry(datagram, &master->datagram_queue, queue) {
fp@1715:             if (datagram->state != EC_DATAGRAM_QUEUED) continue;
fp@293: 
fp@293:             // does the current datagram fit in the frame?
fp@293:             datagram_size = EC_DATAGRAM_HEADER_SIZE + datagram->data_size
fp@293:                 + EC_DATAGRAM_FOOTER_SIZE;
fp@293:             if (cur_data - frame_data + datagram_size > ETH_DATA_LEN) {
fp@293:                 more_datagrams_waiting = 1;
fp@176:                 break;
fp@176:             }
fp@176: 
fp@1732:             list_add_tail(&datagram->sent, &sent_datagrams);
fp@293:             datagram->index = master->datagram_index++;
fp@176: 
fp@1715:             if (unlikely(master->debug_level > 1))
fp@293:                 EC_DBG("adding datagram 0x%02X\n", datagram->index);
fp@293: 
fp@293:             // set "datagram following" flag in previous frame
fp@176:             if (follows_word)
fp@176:                 EC_WRITE_U16(follows_word, EC_READ_U16(follows_word) | 0x8000);
fp@176: 
fp@293:             // EtherCAT datagram header
fp@293:             EC_WRITE_U8 (cur_data,     datagram->type);
fp@293:             EC_WRITE_U8 (cur_data + 1, datagram->index);
fp@1745:             memcpy(cur_data + 2, datagram->address, EC_ADDR_LEN);
fp@293:             EC_WRITE_U16(cur_data + 6, datagram->data_size & 0x7FF);
fp@176:             EC_WRITE_U16(cur_data + 8, 0x0000);
fp@176:             follows_word = cur_data + 6;
fp@293:             cur_data += EC_DATAGRAM_HEADER_SIZE;
fp@293: 
fp@293:             // EtherCAT datagram data
fp@293:             memcpy(cur_data, datagram->data, datagram->data_size);
fp@293:             cur_data += datagram->data_size;
fp@293: 
fp@293:             // EtherCAT datagram footer
fp@195:             EC_WRITE_U16(cur_data, 0x0000); // reset working counter
fp@293:             cur_data += EC_DATAGRAM_FOOTER_SIZE;
fp@176:         }
fp@176: 
fp@1732:         if (list_empty(&sent_datagrams)) {
fp@1715:             if (unlikely(master->debug_level > 1))
fp@176:                 EC_DBG("nothing to send.\n");
fp@176:             break;
fp@176:         }
fp@176: 
fp@176:         // EtherCAT frame header
fp@176:         EC_WRITE_U16(frame_data, ((cur_data - frame_data
fp@176:                                    - EC_FRAME_HEADER_SIZE) & 0x7FF) | 0x1000);
fp@176: 
fp@195:         // pad frame
fp@211:         while (cur_data - frame_data < ETH_ZLEN - ETH_HLEN)
fp@176:             EC_WRITE_U8(cur_data++, 0x00);
fp@98: 
fp@1715:         if (unlikely(master->debug_level > 1))
fp@176:             EC_DBG("frame size: %i\n", cur_data - frame_data);
fp@176: 
fp@195:         // send frame
fp@1744:         ec_device_send(&master->main_device, cur_data - frame_data);
fp@1732:         cycles_sent = get_cycles();
fp@1732:         jiffies_sent = jiffies;
fp@1732: 
fp@1732:         // set datagram states and sending timestamps
fp@1732:         list_for_each_entry_safe(datagram, next, &sent_datagrams, sent) {
fp@1732:             datagram->state = EC_DATAGRAM_SENT;
fp@1732:             datagram->cycles_sent = cycles_sent;
fp@1732:             datagram->jiffies_sent = jiffies_sent;
fp@1732:             list_del_init(&datagram->sent); // empty list of sent datagrams
fp@1732:         }
fp@1732: 
fp@176:         frame_count++;
fp@176:     }
fp@293:     while (more_datagrams_waiting);
fp@98: 
fp@1715:     if (unlikely(master->debug_level > 1)) {
fp@1719:         cycles_end = get_cycles();
fp@293:         EC_DBG("ec_master_send_datagrams sent %i frames in %ius.\n",
fp@1719:                frame_count,
fp@1719:                (unsigned int) (cycles_end - cycles_start) * 1000 / cpu_khz);
fp@176:     }
fp@176: }
fp@176: 
fp@176: /*****************************************************************************/
fp@176: 
fp@176: /**
fp@176:    Processes a received frame.
fp@176:    This function is called by the network driver for every received frame.
fp@195:    \return 0 in case of success, else < 0
fp@195: */
fp@195: 
fp@1716: void ec_master_receive_datagrams(ec_master_t *master, /**< EtherCAT master */
fp@1716:                                  const uint8_t *frame_data, /**< frame data */
fp@1716:                                  size_t size /**< size of the received data */
fp@1716:                                  )
fp@98: {
fp@98:     size_t frame_size, data_size;
fp@293:     uint8_t datagram_type, datagram_index;
fp@98:     unsigned int cmd_follows, matched;
fp@98:     const uint8_t *cur_data;
fp@293:     ec_datagram_t *datagram;
fp@98: 
fp@98:     if (unlikely(size < EC_FRAME_HEADER_SIZE)) {
fp@98:         master->stats.corrupted++;
fp@98:         ec_master_output_stats(master);
fp@98:         return;
fp@98:     }
fp@98: 
fp@98:     cur_data = frame_data;
fp@98: 
fp@195:     // check length of entire frame
fp@98:     frame_size = EC_READ_U16(cur_data) & 0x07FF;
fp@98:     cur_data += EC_FRAME_HEADER_SIZE;
fp@98: 
fp@98:     if (unlikely(frame_size > size)) {
fp@98:         master->stats.corrupted++;
fp@98:         ec_master_output_stats(master);
fp@98:         return;
fp@98:     }
fp@98: 
fp@98:     cmd_follows = 1;
fp@98:     while (cmd_follows) {
fp@293:         // process datagram header
fp@293:         datagram_type  = EC_READ_U8 (cur_data);
fp@293:         datagram_index = EC_READ_U8 (cur_data + 1);
fp@293:         data_size      = EC_READ_U16(cur_data + 6) & 0x07FF;
fp@293:         cmd_follows    = EC_READ_U16(cur_data + 6) & 0x8000;
fp@293:         cur_data += EC_DATAGRAM_HEADER_SIZE;
fp@98: 
fp@98:         if (unlikely(cur_data - frame_data
fp@293:                      + data_size + EC_DATAGRAM_FOOTER_SIZE > size)) {
fp@98:             master->stats.corrupted++;
fp@98:             ec_master_output_stats(master);
fp@98:             return;
fp@98:         }
fp@98: 
fp@293:         // search for matching datagram in the queue
fp@98:         matched = 0;
fp@293:         list_for_each_entry(datagram, &master->datagram_queue, queue) {
fp@1744:             if (datagram->index == datagram_index
fp@1744:                 && datagram->state == EC_DATAGRAM_SENT
fp@293:                 && datagram->type == datagram_type
fp@293:                 && datagram->data_size == data_size) {
fp@98:                 matched = 1;
fp@98:                 break;
fp@98:             }
fp@98:         }
fp@98: 
fp@293:         // no matching datagram was found
fp@98:         if (!matched) {
fp@98:             master->stats.unmatched++;
fp@98:             ec_master_output_stats(master);
fp@1744: 
fp@1744:             if (unlikely(master->debug_level > 0)) {
fp@1744:                 EC_DBG("UNMATCHED datagram:\n");
fp@1744:                 ec_print_data(cur_data - EC_DATAGRAM_HEADER_SIZE,
fp@1744:                         EC_DATAGRAM_HEADER_SIZE + data_size
fp@1744:                         + EC_DATAGRAM_FOOTER_SIZE);
fp@1744: #ifdef EC_DEBUG_RING
fp@1744:                 ec_device_debug_ring_print(&master->main_device);
fp@1744: #endif
fp@1744:             }
fp@1744: 
fp@293:             cur_data += data_size + EC_DATAGRAM_FOOTER_SIZE;
fp@98:             continue;
fp@98:         }
fp@98: 
fp@1719:         // copy received data into the datagram memory
fp@293:         memcpy(datagram->data, cur_data, data_size);
fp@98:         cur_data += data_size;
fp@98: 
fp@293:         // set the datagram's working counter
fp@293:         datagram->working_counter = EC_READ_U16(cur_data);
fp@293:         cur_data += EC_DATAGRAM_FOOTER_SIZE;
fp@293: 
fp@293:         // dequeue the received datagram
fp@1715:         datagram->state = EC_DATAGRAM_RECEIVED;
fp@1744:         datagram->cycles_received = master->main_device.cycles_poll;
fp@1744:         datagram->jiffies_received = master->main_device.jiffies_poll;
fp@293:         list_del_init(&datagram->queue);
fp@293:     }
fp@293: }
fp@293: 
fp@293: /*****************************************************************************/
fp@293: 
fp@293: /**
fp@195:    Output statistics in cyclic mode.
fp@195:    This function outputs statistical data on demand, but not more often than
fp@195:    necessary. The output happens at most once a second.
fp@195: */
fp@195: 
fp@195: void ec_master_output_stats(ec_master_t *master /**< EtherCAT master */)
fp@98: {
fp@1719:     if (unlikely(jiffies - master->stats.output_jiffies >= HZ)) {
fp@1719:         master->stats.output_jiffies = jiffies;
fp@1719: 
fp@98:         if (master->stats.timeouts) {
fp@1732:             EC_WARN("%i datagram%s TIMED OUT!\n", master->stats.timeouts,
fp@1732:                     master->stats.timeouts == 1 ? "" : "s");
fp@98:             master->stats.timeouts = 0;
fp@98:         }
fp@98:         if (master->stats.corrupted) {
fp@1732:             EC_WARN("%i frame%s CORRUPTED!\n", master->stats.corrupted,
fp@1732:                     master->stats.corrupted == 1 ? "" : "s");
fp@98:             master->stats.corrupted = 0;
fp@98:         }
fp@98:         if (master->stats.unmatched) {
fp@1732:             EC_WARN("%i datagram%s UNMATCHED!\n", master->stats.unmatched,
fp@1732:                     master->stats.unmatched == 1 ? "" : "s");
fp@98:             master->stats.unmatched = 0;
fp@98:         }
fp@73:     }
fp@54: }
fp@54: 
fp@68: /*****************************************************************************/
fp@68: 
fp@68: /**
fp@1744:  * Master kernel thread function for IDLE mode.
fp@1744:  */
fp@1744: 
fp@1744: static int ec_master_idle_thread(ec_master_t *master)
fp@1744: {
fp@1719:     cycles_t cycles_start, cycles_end;
fp@251: 
fp@1744:     daemonize("EtherCAT-IDLE");
fp@1739:     allow_signal(SIGTERM);
fp@1739: 
fp@1744:     while (!signal_pending(current)) {
fp@1739:         cycles_start = get_cycles();
fp@1745:         ec_datagram_output_stats(&master->fsm_datagram);
fp@1739: 
fp@1744:         if (ec_fsm_master_running(&master->fsm)) { // datagram on the way
fp@1744:             // receive
fp@1744:             spin_lock_bh(&master->internal_lock);
fp@1744:             ecrt_master_receive(master);
fp@1744:             spin_unlock_bh(&master->internal_lock);
fp@1744: 
fp@1744:             if (master->fsm_datagram.state == EC_DATAGRAM_SENT)
fp@1744:                 goto schedule;
fp@1744:         }
fp@1739: 
fp@1739:         // execute master state machine
fp@1744:         if (ec_fsm_master_exec(&master->fsm)) { // datagram ready for sending
fp@1744:             // queue and send
fp@1744:             spin_lock_bh(&master->internal_lock);
fp@1744:             ec_master_queue_datagram(master, &master->fsm_datagram);
fp@1744:             ecrt_master_send(master);
fp@1744:             spin_unlock_bh(&master->internal_lock);
fp@1744:         }
fp@1739:         
fp@1739:         cycles_end = get_cycles();
fp@1739:         master->idle_cycle_times[master->idle_cycle_time_pos]
fp@1739:             = (u32) (cycles_end - cycles_start) * 1000 / cpu_khz;
fp@1739:         master->idle_cycle_time_pos++;
fp@1739:         master->idle_cycle_time_pos %= HZ;
fp@1739: 
fp@1744: schedule:
fp@1744:         if (ec_fsm_master_idle(&master->fsm)) {
fp@1744:             set_current_state(TASK_INTERRUPTIBLE);
fp@1744:             schedule_timeout(1);
fp@1744:         }
fp@1744:         else {
fp@1744:             schedule();
fp@1744:         }
fp@1739:     }
fp@1739:     
fp@1739:     master->thread_id = 0;
fp@1744:     if (master->debug_level)
fp@1744:         EC_DBG("Master IDLE thread exiting...\n");
fp@1739:     complete_and_exit(&master->thread_exit, 0);
fp@195: }
fp@195: 
fp@195: /*****************************************************************************/
fp@195: 
fp@195: /**
fp@1744:  * Master kernel thread function for IDLE mode.
fp@1744:  */
fp@1744: 
fp@1744: static int ec_master_operation_thread(ec_master_t *master)
fp@1744: {
fp@1744:     cycles_t cycles_start, cycles_end;
fp@1744: 
fp@1744:     daemonize("EtherCAT-OP");
fp@1744:     allow_signal(SIGTERM);
fp@1744: 
fp@1744:     while (!signal_pending(current)) {
fp@1745:         ec_datagram_output_stats(&master->fsm_datagram);
fp@1744:         if (master->injection_seq_rt != master->injection_seq_fsm ||
fp@1744:                 master->fsm_datagram.state == EC_DATAGRAM_SENT ||
fp@1744:                 master->fsm_datagram.state == EC_DATAGRAM_QUEUED)
fp@1744:             goto schedule;
fp@1744: 
fp@1744:         cycles_start = get_cycles();
fp@1744: 
fp@1744:         // output statistics
fp@1744:         ec_master_output_stats(master);
fp@1744: 
fp@1744:         // execute master state machine
fp@1744:         if (ec_fsm_master_exec(&master->fsm)) {
fp@1744:             // inject datagram
fp@1744:             master->injection_seq_fsm++;
fp@1744:         }
fp@1744: 
fp@1744:         cycles_end = get_cycles();
fp@1744:         master->idle_cycle_times[master->idle_cycle_time_pos]
fp@1744:             = (u32) (cycles_end - cycles_start) * 1000 / cpu_khz;
fp@1744:         master->idle_cycle_time_pos++;
fp@1744:         master->idle_cycle_time_pos %= HZ;
fp@1744: 
fp@1744: schedule:
fp@1744:         if (ec_fsm_master_idle(&master->fsm)) {
fp@1744:             set_current_state(TASK_INTERRUPTIBLE);
fp@1744:             schedule_timeout(1);
fp@1744:         }
fp@1744:         else {
fp@1744:             schedule();
fp@1744:         }
fp@1744:     }
fp@1744:     
fp@1744:     master->thread_id = 0;
fp@1744:     if (master->debug_level)
fp@1744:         EC_DBG("Master OP thread exiting...\n");
fp@1744:     complete_and_exit(&master->thread_exit, 0);
fp@1744: }
fp@1744: 
fp@1744: /*****************************************************************************/
fp@1744: 
fp@1746: /**
fp@1746:  * Prints the device information to a buffer.
fp@1746:  * \return number of bytes written.
fp@1746:  */
fp@1746: 
fp@1744: ssize_t ec_master_device_info(
fp@1746:         const ec_device_t *device, /**< EtherCAT device */
fp@1746:         const uint8_t *mac, /**< MAC address */
fp@1746:         char *buffer /**< target buffer */
fp@1744:         )
fp@1744: {
fp@1744:     unsigned int frames_lost;
fp@1744:     off_t off = 0;
fp@1744:     
fp@1744:     if (ec_mac_is_zero(mac)) {
fp@1744:         off += sprintf(buffer + off, "none.\n");
fp@1744:     }
fp@1744:     else {
fp@1744:         off += ec_mac_print(mac, buffer + off);
fp@1744:     
fp@1744:         if (device->dev) {
fp@1744:             off += sprintf(buffer + off, " (connected).\n");      
fp@1744:             off += sprintf(buffer + off, "    Frames sent:     %u\n",
fp@1744:                     device->tx_count);
fp@1744:             off += sprintf(buffer + off, "    Frames received: %u\n",
fp@1744:                     device->rx_count);
fp@1744:             frames_lost = device->tx_count - device->rx_count;
fp@1744:             if (frames_lost) frames_lost--;
fp@1744:             off += sprintf(buffer + off, "    Frames lost:     %u\n", frames_lost);
fp@1744:         }
fp@1744:         else {
fp@1744:             off += sprintf(buffer + off, " (WAITING).\n");      
fp@1744:         }
fp@1744:     }
fp@1744:     
fp@1744:     return off;
fp@1744: }
fp@1744: 
fp@1744: /*****************************************************************************/
fp@1744: 
fp@1744: /**
fp@1716:    Formats master information for SysFS read access.
fp@1716:    \return number of bytes written
fp@1716: */
fp@1716: 
fp@1716: ssize_t ec_master_info(ec_master_t *master, /**< EtherCAT master */
fp@1716:                        char *buffer /**< memory to store data */
fp@1716:                        )
fp@1716: {
fp@1716:     off_t off = 0;
fp@1745: #ifdef EC_EOE
fp@1716:     ec_eoe_t *eoe;
fp@1745: #endif
fp@1716:     uint32_t cur, sum, min, max, pos, i;
fp@1744: 
fp@1716:     off += sprintf(buffer + off, "\nMode: ");
fp@1716:     switch (master->mode) {
fp@1716:         case EC_MASTER_MODE_ORPHANED:
fp@1716:             off += sprintf(buffer + off, "ORPHANED");
fp@1716:             break;
fp@1716:         case EC_MASTER_MODE_IDLE:
fp@1716:             off += sprintf(buffer + off, "IDLE");
fp@1716:             break;
fp@1716:         case EC_MASTER_MODE_OPERATION:
fp@1716:             off += sprintf(buffer + off, "OPERATION");
fp@1716:             break;
fp@1716:     }
fp@1716: 
fp@1716:     off += sprintf(buffer + off, "\nSlaves: %i\n",
fp@1716:                    master->slave_count);
fp@1745:     off += sprintf(buffer + off, "Status: %s\n",
fp@1745:                    master->fsm.tainted ? "TAINTED" : "sane");
fp@1745:     off += sprintf(buffer + off, "PDO slaves: %s\n",
fp@1745:                    master->pdo_slaves_offline ? "INCOMPLETE" : "online");
fp@1744: 
fp@1744:     off += sprintf(buffer + off, "\nDevices:\n");
fp@1744:     
fp@1744:     down(&master->device_sem);
fp@1744:     off += sprintf(buffer + off, "  Main: ");
fp@1744:     off += ec_master_device_info(&master->main_device,
fp@1744:             master->main_mac, buffer + off);
fp@1744:     off += sprintf(buffer + off, "  Backup: ");
fp@1744:     off += ec_master_device_info(&master->backup_device,
fp@1744:             master->backup_mac, buffer + off);
fp@1744:     up(&master->device_sem);
fp@1716: 
fp@1716:     off += sprintf(buffer + off, "\nTiming (min/avg/max) [us]:\n");
fp@1716: 
fp@1716:     sum = 0;
fp@1716:     min = 0xFFFFFFFF;
fp@1716:     max = 0;
fp@1716:     pos = master->idle_cycle_time_pos;
fp@1716:     for (i = 0; i < HZ; i++) {
fp@1716:         cur = master->idle_cycle_times[(i + pos) % HZ];
fp@1716:         sum += cur;
fp@1716:         if (cur < min) min = cur;
fp@1716:         if (cur > max) max = cur;
fp@1716:     }
fp@1716:     off += sprintf(buffer + off, "  Idle cycle: %u / %u.%u / %u\n",
fp@1716:                    min, sum / HZ, (sum * 100 / HZ) % 100, max);
fp@1716: 
fp@1745: #ifdef EC_EOE
fp@1716:     sum = 0;
fp@1716:     min = 0xFFFFFFFF;
fp@1716:     max = 0;
fp@1716:     pos = master->eoe_cycle_time_pos;
fp@1716:     for (i = 0; i < HZ; i++) {
fp@1716:         cur = master->eoe_cycle_times[(i + pos) % HZ];
fp@1716:         sum += cur;
fp@1716:         if (cur < min) min = cur;
fp@1716:         if (cur > max) max = cur;
fp@1716:     }
fp@1716:     off += sprintf(buffer + off, "  EoE cycle: %u / %u.%u / %u\n",
fp@1716:                    min, sum / HZ, (sum * 100 / HZ) % 100, max);
fp@1716: 
fp@1716:     if (!list_empty(&master->eoe_handlers))
fp@1716:         off += sprintf(buffer + off, "\nEoE statistics (RX/TX) [bps]:\n");
fp@1716:     list_for_each_entry(eoe, &master->eoe_handlers, list) {
fp@1716:         off += sprintf(buffer + off, "  %s: %u / %u (%u KB/s)\n",
fp@1716:                        eoe->dev->name, eoe->rx_rate, eoe->tx_rate,
fp@1716:                        ((eoe->rx_rate + eoe->tx_rate) / 8 + 512) / 1024);
fp@1716:     }
fp@1745: #endif
fp@1716: 
fp@1716:     off += sprintf(buffer + off, "\n");
fp@1716: 
fp@1716:     return off;
fp@1716: }
fp@1716: 
fp@1716: /*****************************************************************************/
fp@1716: 
fp@1716: /**
fp@195:    Formats attribute data for SysFS read access.
fp@195:    \return number of bytes to read
fp@195: */
fp@195: 
fp@195: ssize_t ec_show_master_attribute(struct kobject *kobj, /**< kobject */
fp@195:                                  struct attribute *attr, /**< attribute */
fp@195:                                  char *buffer /**< memory to store data */
fp@178:                                  )
fp@178: {
fp@178:     ec_master_t *master = container_of(kobj, ec_master_t, kobj);
fp@178: 
fp@1716:     if (attr == &attr_info) {
fp@1716:         return ec_master_info(master, buffer);
fp@1715:     }
fp@1715:     else if (attr == &attr_debug_level) {
fp@1715:         return sprintf(buffer, "%i\n", master->debug_level);
fp@1715:     }
fp@178: 
fp@178:     return 0;
fp@178: }
fp@178: 
fp@178: /*****************************************************************************/
fp@178: 
fp@178: /**
fp@268:    Formats attribute data for SysFS write access.
fp@268:    \return number of bytes processed, or negative error code
fp@268: */
fp@268: 
fp@268: ssize_t ec_store_master_attribute(struct kobject *kobj, /**< slave's kobject */
fp@268:                                   struct attribute *attr, /**< attribute */
fp@268:                                   const char *buffer, /**< memory with data */
fp@268:                                   size_t size /**< size of data to store */
fp@268:                                   )
fp@268: {
fp@268:     ec_master_t *master = container_of(kobj, ec_master_t, kobj);
fp@268: 
fp@1744:     if (attr == &attr_debug_level) {
fp@1715:         if (!strcmp(buffer, "0\n")) {
fp@1715:             master->debug_level = 0;
fp@1715:         }
fp@1715:         else if (!strcmp(buffer, "1\n")) {
fp@1715:             master->debug_level = 1;
fp@1715:         }
fp@1715:         else if (!strcmp(buffer, "2\n")) {
fp@1715:             master->debug_level = 2;
fp@1715:         }
fp@1715:         else {
fp@1715:             EC_ERR("Invalid debug level value!\n");
fp@1715:             return -EINVAL;
fp@1715:         }
fp@1715: 
fp@1715:         EC_INFO("Master debug level set to %i.\n", master->debug_level);
fp@1715:         return size;
fp@1715:     }
fp@268: 
fp@268:     return -EINVAL;
fp@268: }
fp@268: 
fp@268: /*****************************************************************************/
fp@268: 
fp@1745: #ifdef EC_EOE
fp@268: /**
fp@1716:    Starts Ethernet-over-EtherCAT processing on demand.
fp@251: */
fp@251: 
fp@251: void ec_master_eoe_start(ec_master_t *master /**< EtherCAT master */)
fp@251: {
fp@1744:     if (master->eoe_running) {
fp@1744:         EC_WARN("EoE already running!\n");
fp@1744:         return;
fp@1744:     }
fp@1744: 
fp@1744:     if (list_empty(&master->eoe_handlers))
fp@1744:         return;
fp@1744: 
fp@1744:     if (!master->request_cb || !master->release_cb) {
fp@1744:         EC_WARN("No EoE processing because of missing locking callbacks!\n");
fp@251:         return;
fp@251:     }
fp@251: 
fp@251:     EC_INFO("Starting EoE processing.\n");
fp@251:     master->eoe_running = 1;
fp@251: 
fp@251:     // start EoE processing
fp@251:     master->eoe_timer.expires = jiffies + 10;
fp@251:     add_timer(&master->eoe_timer);
fp@251: }
fp@251: 
fp@251: /*****************************************************************************/
fp@251: 
fp@251: /**
fp@251:    Stops the Ethernet-over-EtherCAT processing.
fp@251: */
fp@251: 
fp@251: void ec_master_eoe_stop(ec_master_t *master /**< EtherCAT master */)
fp@251: {
fp@251:     if (!master->eoe_running) return;
fp@251: 
fp@251:     EC_INFO("Stopping EoE processing.\n");
fp@251: 
fp@251:     del_timer_sync(&master->eoe_timer);
fp@251:     master->eoe_running = 0;
fp@251: }
fp@251: 
fp@251: /*****************************************************************************/
fp@1732: 
fp@251: /**
fp@197:    Does the Ethernet-over-EtherCAT processing.
fp@197: */
fp@197: 
fp@251: void ec_master_eoe_run(unsigned long data /**< master pointer */)
fp@206: {
fp@206:     ec_master_t *master = (ec_master_t *) data;
fp@197:     ec_eoe_t *eoe;
fp@1744:     unsigned int none_open = 1;
fp@1719:     cycles_t cycles_start, cycles_end;
fp@1719:     unsigned long restart_jiffies;
fp@235: 
fp@251:     list_for_each_entry(eoe, &master->eoe_handlers, list) {
fp@1744:         if (ec_eoe_is_open(eoe)) {
fp@1744:             none_open = 0;
fp@1744:             break;
fp@1744:         }
fp@1744:     }
fp@1744:     if (none_open)
fp@1744:         goto queue_timer;
fp@1744: 
fp@1745:     // receive datagrams
fp@1744:     if (master->request_cb(master->cb_data)) goto queue_timer;
fp@1719:     cycles_start = get_cycles();
fp@1715:     ecrt_master_receive(master);
fp@1745:     master->release_cb(master->cb_data);
fp@1739: 
fp@1739:     // actual EoE processing
fp@251:     list_for_each_entry(eoe, &master->eoe_handlers, list) {
fp@251:         ec_eoe_run(eoe);
fp@251:     }
fp@1716: 
fp@1739:     // send datagrams
fp@1745:     if (master->request_cb(master->cb_data)) {
fp@1745:         goto queue_timer;
fp@1745:     }
fp@1745:     list_for_each_entry(eoe, &master->eoe_handlers, list) {
fp@1745:         ec_eoe_queue(eoe);
fp@1745:     }
fp@1715:     ecrt_master_send(master);
fp@1745:     master->release_cb(master->cb_data);
fp@1719:     cycles_end = get_cycles();
fp@1744: 
fp@1716:     master->eoe_cycle_times[master->eoe_cycle_time_pos]
fp@1719:         = (u32) (cycles_end - cycles_start) * 1000 / cpu_khz;
fp@1716:     master->eoe_cycle_time_pos++;
fp@1716:     master->eoe_cycle_time_pos %= HZ;
fp@1716: 
fp@251:  queue_timer:
fp@1719:     restart_jiffies = HZ / EC_EOE_FREQUENCY;
fp@1719:     if (!restart_jiffies) restart_jiffies = 1;
fp@1745:     master->eoe_timer.expires = jiffies + restart_jiffies;
fp@208:     add_timer(&master->eoe_timer);
fp@197: }
fp@1745: #endif
fp@1716: 
fp@1739: /*****************************************************************************/
fp@1739: 
fp@1739: /**
fp@1739:    Prepares synchronous IO.
fp@1739:    Queues all domain datagrams and sends them. Then waits a certain time, so
fp@1739:    that ecrt_master_receive() can be called securely.
fp@1739: */
fp@1739: 
fp@1739: void ec_master_prepare(ec_master_t *master /**< EtherCAT master */)
fp@1739: {
fp@1739:     ec_domain_t *domain;
fp@1739:     cycles_t cycles_start, cycles_end, cycles_timeout;
fp@1739: 
fp@1739:     // queue datagrams of all domains
fp@1739:     list_for_each_entry(domain, &master->domains, list)
fp@1739:         ecrt_domain_queue(domain);
fp@1739: 
fp@1739:     ecrt_master_send(master);
fp@1739: 
fp@1739:     cycles_start = get_cycles();
fp@1739:     cycles_timeout = (cycles_t) EC_IO_TIMEOUT /* us */ * (cpu_khz / 1000);
fp@1739: 
fp@1739:     // active waiting
fp@1739:     while (1) {
fp@1739:         udelay(100);
fp@1739:         cycles_end = get_cycles();
fp@1739:         if (cycles_end - cycles_start >= cycles_timeout) break;
fp@1739:     }
fp@1739: }
fp@1739: 
fp@1744: /*****************************************************************************/
fp@1744: 
fp@1744: /**
fp@1744:  * Translates an ASCII coded bus-address to a slave pointer.
fp@1744:  * These are the valid addressing schemes:
fp@1744:  * - \a "X" = the Xth slave on the bus (ring position),
fp@1744:  * - \a "#X" = the slave with alias X,
fp@1744:  * - \a "#X:Y" = the Yth slave after the slave with alias X.
fp@1744:  * X and Y are zero-based indices and may be provided in hexadecimal or octal
fp@1744:  * notation (with appropriate prefix).
fp@1744:  * \return pointer to the slave on success, else NULL
fp@1744:  */
fp@1744: 
fp@1744: ec_slave_t *ec_master_parse_slave_address(
fp@1744:         const ec_master_t *master, /**< EtherCAT master */
fp@1744:         const char *address /**< address string */
fp@1744:         )
fp@1744: {
fp@1744:     unsigned long first, second;
fp@1744:     char *remainder, *remainder2;
fp@1744:     const char *original;
fp@1744:     unsigned int alias_requested = 0, alias_not_found = 1;
fp@1744:     ec_slave_t *alias_slave = NULL, *slave;
fp@1744: 
fp@1744:     original = address;
fp@1744: 
fp@1744:     if (!address[0])
fp@1744:         goto out_invalid;
fp@1744: 
fp@1744:     if (address[0] == '#') {
fp@1744:         alias_requested = 1;
fp@1744:         address++;
fp@1744:     }
fp@1744: 
fp@1744:     first = simple_strtoul(address, &remainder, 0);
fp@1744:     if (remainder == address)
fp@1744:         goto out_invalid;
fp@1744: 
fp@1744:     if (alias_requested) {
fp@1744:         list_for_each_entry(alias_slave, &master->slaves, list) {
fp@1744:             if (alias_slave->sii_alias == first) {
fp@1744:                 alias_not_found = 0;
fp@1744:                 break;
fp@1744:             }
fp@1744:         }
fp@1744:         if (alias_not_found) {
fp@1744:             EC_ERR("Alias not found!\n");
fp@1744:             goto out_invalid;
fp@1744:         }
fp@1744:     }
fp@1744: 
fp@1744:     if (!remainder[0]) {
fp@1744:         if (alias_requested) { // alias addressing
fp@1744:             return alias_slave;
fp@1744:         }
fp@1744:         else { // position addressing
fp@1744:             list_for_each_entry(slave, &master->slaves, list) {
fp@1744:                 if (slave->ring_position == first) return slave;
fp@1744:             }
fp@1744:             EC_ERR("Slave index out of range!\n");
fp@1744:             goto out_invalid;
fp@1744:         }
fp@1744:     }
fp@1744:     else if (alias_requested && remainder[0] == ':') { // field addressing
fp@1744:         struct list_head *list;
fp@1744:         remainder++;
fp@1744:         second = simple_strtoul(remainder, &remainder2, 0);
fp@1744: 
fp@1744:         if (remainder2 == remainder || remainder2[0])
fp@1744:             goto out_invalid;
fp@1744: 
fp@1744:         list = &alias_slave->list;
fp@1744:         while (second--) {
fp@1744:             list = list->next;
fp@1744:             if (list == &master->slaves) { // last slave exceeded
fp@1744:                 EC_ERR("Slave index out of range!\n");
fp@1744:                 goto out_invalid;
fp@1744:             }
fp@1744:         }
fp@1744:         return list_entry(list, ec_slave_t, list);
fp@1744:     }
fp@1744: 
fp@1744: out_invalid:
fp@1744:     EC_ERR("Invalid slave address string \"%s\"!\n", original);
fp@1744:     return NULL;
fp@1744: }
fp@1744: 
fp@54: /******************************************************************************
fp@195:  *  Realtime interface
fp@54:  *****************************************************************************/
fp@54: 
fp@54: /**
fp@195:    Creates a domain.
fp@195:    \return pointer to new domain on success, else NULL
fp@199:    \ingroup RealtimeInterface
fp@195: */
fp@195: 
fp@195: ec_domain_t *ecrt_master_create_domain(ec_master_t *master /**< master */)
fp@73: {
fp@178:     ec_domain_t *domain, *last_domain;
fp@178:     unsigned int index;
fp@73: 
fp@73:     if (!(domain = (ec_domain_t *) kmalloc(sizeof(ec_domain_t), GFP_KERNEL))) {
fp@84:         EC_ERR("Error allocating domain memory!\n");
fp@1732:         return NULL;
fp@178:     }
fp@178: 
fp@178:     if (list_empty(&master->domains)) index = 0;
fp@178:     else {
fp@178:         last_domain = list_entry(master->domains.prev, ec_domain_t, list);
fp@178:         index = last_domain->index + 1;
fp@178:     }
fp@178: 
fp@178:     if (ec_domain_init(domain, master, index)) {
fp@178:         EC_ERR("Failed to init domain.\n");
fp@1732:         return NULL;
fp@178:     }
fp@178: 
fp@95:     list_add_tail(&domain->list, &master->domains);
fp@1732: 
fp@73:     return domain;
fp@73: }
fp@61: 
fp@74: /*****************************************************************************/
fp@74: 
fp@61: /**
fp@195:    Configures all slaves and leads them to the OP state.
fp@195:    Does the complete configuration and activation for all slaves. Sets sync
fp@195:    managers and FMMUs, and does the appropriate transitions, until the slave
fp@195:    is operational.
fp@195:    \return 0 in case of success, else < 0
fp@199:    \ingroup RealtimeInterface
fp@195: */
fp@195: 
fp@195: int ecrt_master_activate(ec_master_t *master /**< EtherCAT master */)
fp@73: {
fp@73:     uint32_t domain_offset;
fp@84:     ec_domain_t *domain;
fp@144: 
fp@195:     // allocate all domains
fp@73:     domain_offset = 0;
fp@95:     list_for_each_entry(domain, &master->domains, list) {
fp@73:         if (ec_domain_alloc(domain, domain_offset)) {
fp@95:             EC_ERR("Failed to allocate domain %X!\n", (u32) domain);
fp@73:             return -1;
fp@73:         }
fp@73:         domain_offset += domain->data_size;
fp@73:     }
fp@73: 
fp@1744:     // request slave configuration
fp@1744:     down(&master->config_sem);
fp@1744:     master->allow_config = 1; // request the current configuration
fp@1744:     master->config_state = EC_REQUEST_IN_PROGRESS;
fp@1744:     up(&master->config_sem);
fp@1744: 
fp@1744:     // wait for configuration to complete
fp@1744:     if (wait_event_interruptible(master->config_queue,
fp@1744:                 master->config_state != EC_REQUEST_IN_PROGRESS)) {
fp@1744:         EC_INFO("Waiting for configuration interrupted by signal.\n");
fp@1744:         return -1;
fp@1744:     }
fp@1744: 
fp@1744:     if (master->config_state != EC_REQUEST_COMPLETE) {
fp@1744:         EC_ERR("Failed to configure slaves.\n");
fp@1744:         return -1;
fp@1744:     }
fp@1744:     
fp@1744:     // restart EoE process and master thread with new locking
fp@1745: #ifdef EC_EOE
fp@1744:     ec_master_eoe_stop(master);
fp@1745: #endif
fp@1744:     ec_master_thread_stop(master);
fp@1744: 
fp@1739:     ec_master_prepare(master); // prepare asynchronous IO
fp@1739: 
fp@1744:     if (master->debug_level)
fp@1744:         EC_DBG("FSM datagram is %x.\n", (unsigned int) &master->fsm_datagram);
fp@1744: 
fp@1744:     master->injection_seq_fsm = 0;
fp@1744:     master->injection_seq_rt = 0;
fp@1744:     master->request_cb = master->ext_request_cb;
fp@1744:     master->release_cb = master->ext_release_cb;
fp@1744:     master->cb_data = master->ext_cb_data;
fp@1744:     
fp@1744:     if (ec_master_thread_start(master, ec_master_operation_thread)) {
fp@1744:         EC_ERR("Failed to start master thread!\n");
fp@1744:         return -1;
fp@1744:     }
fp@1745: #ifdef EC_EOE
fp@1744:     ec_master_eoe_start(master);
fp@1745: #endif
fp@73:     return 0;
fp@73: }
fp@73: 
fp@73: /*****************************************************************************/
fp@73: 
fp@73: /**
fp@293:    Asynchronous sending of datagrams.
fp@199:    \ingroup RealtimeInterface
fp@195: */
fp@195: 
fp@1715: void ecrt_master_send(ec_master_t *master /**< EtherCAT master */)
fp@104: {
fp@293:     ec_datagram_t *datagram, *n;
fp@104: 
fp@1744:     if (master->injection_seq_rt != master->injection_seq_fsm) {
fp@1744:         // inject datagram produced by master FSM
fp@1744:         ec_master_queue_datagram(master, &master->fsm_datagram);
fp@1744:         master->injection_seq_rt = master->injection_seq_fsm;
fp@1744:     }
fp@1744: 
fp@1744:     if (unlikely(!master->main_device.link_state)) {
fp@293:         // link is down, no datagram can be sent
fp@293:         list_for_each_entry_safe(datagram, n, &master->datagram_queue, queue) {
fp@1715:             datagram->state = EC_DATAGRAM_ERROR;
fp@293:             list_del_init(&datagram->queue);
fp@104:         }
fp@104: 
fp@195:         // query link state
fp@1744:         ec_device_poll(&master->main_device);
fp@104:         return;
fp@104:     }
fp@104: 
fp@195:     // send frames
fp@293:     ec_master_send_datagrams(master);
fp@293: }
fp@293: 
fp@293: /*****************************************************************************/
fp@293: 
fp@293: /**
fp@293:    Asynchronous receiving of datagrams.
fp@199:    \ingroup RealtimeInterface
fp@195: */
fp@195: 
fp@1715: void ecrt_master_receive(ec_master_t *master /**< EtherCAT master */)
fp@104: {
fp@293:     ec_datagram_t *datagram, *next;
fp@1732:     cycles_t cycles_timeout;
fp@1744:     unsigned int frames_timed_out = 0;
fp@1732: 
fp@1732:     // receive datagrams
fp@1744:     ec_device_poll(&master->main_device);
fp@104: 
fp@1732:     cycles_timeout = (cycles_t) EC_IO_TIMEOUT /* us */ * (cpu_khz / 1000);
fp@293: 
fp@293:     // dequeue all datagrams that timed out
fp@293:     list_for_each_entry_safe(datagram, next, &master->datagram_queue, queue) {
fp@1739:         if (datagram->state != EC_DATAGRAM_SENT) continue;
fp@1739: 
fp@1744:         if (master->main_device.cycles_poll - datagram->cycles_sent
fp@1739:             > cycles_timeout) {
fp@1744:             frames_timed_out = 1;
fp@1739:             list_del_init(&datagram->queue);
fp@1739:             datagram->state = EC_DATAGRAM_TIMED_OUT;
fp@1739:             master->stats.timeouts++;
fp@1739:             ec_master_output_stats(master);
fp@1744: 
fp@1744:             if (unlikely(master->debug_level > 0)) {
fp@1744:                 EC_DBG("TIMED OUT datagram %08x, index %02X waited %u us.\n",
fp@1744:                         (unsigned int) datagram, datagram->index,
fp@1744:                         (unsigned int) (master->main_device.cycles_poll
fp@1744:                             - datagram->cycles_sent) * 1000 / cpu_khz);
fp@1744:             }
fp@1744:         }
fp@1744:     }
fp@1744: 
fp@1744:     master->frames_timed_out = frames_timed_out;
fp@1744: }
fp@1744: 
fp@1744: /*****************************************************************************/
fp@1744: 
fp@1744: /**
fp@1744:  * Obtains a slave pointer by its bus address.
fp@1744:  * A valid slave pointer is only returned, if vendor ID and product code are
fp@1744:  * matching.
fp@1744:  * \return pointer to the slave on success, else NULL
fp@1744:  * \ingroup RealtimeInterface
fp@1744:  */
fp@1744: 
fp@1744: ec_slave_t *ecrt_master_get_slave(
fp@1744:         const ec_master_t *master, /**< EtherCAT master */
fp@1744:         const char *address, /**< address string
fp@1744:                                \see ec_master_parse_slave_address() */
fp@1744:         uint32_t vendor_id, /**< vendor ID */
fp@1744:         uint32_t product_code /**< product code */
fp@1744:         )
fp@1744: {
fp@1744:     ec_slave_t *slave = ec_master_parse_slave_address(master, address);
fp@1744: 
fp@1744:     if (!slave)
fp@197:         return NULL;
fp@1744: 
fp@1744:     return ec_slave_validate(slave, vendor_id, product_code) ? NULL : slave;
fp@1744: }
fp@1744: 
fp@1744: /*****************************************************************************/
fp@1744: 
fp@1744: /**
fp@1744:  * Obtains a slave pointer by its ring position.
fp@1744:  * A valid slave pointer is only returned, if vendor ID and product code are
fp@1744:  * matching.
fp@1744:  * \return pointer to the slave on success, else NULL
fp@1744:  * \ingroup RealtimeInterface
fp@1744:  */
fp@1744: 
fp@1744: ec_slave_t *ecrt_master_get_slave_by_pos(
fp@1744:         const ec_master_t *master, /**< EtherCAT master */
fp@1744:         uint16_t ring_position, /**< ring position */
fp@1744:         uint32_t vendor_id, /**< vendor ID */
fp@1744:         uint32_t product_code /**< product code */
fp@1744:         )
fp@1744: {
fp@1744:     ec_slave_t *slave;
fp@1744:     unsigned int found = 0;
fp@1744: 
fp@1744:     list_for_each_entry(slave, &master->slaves, list) {
fp@1744:         if (slave->ring_position == ring_position) {
fp@1744:             found = 1;
fp@1744:             break;
fp@1744:         }
fp@1744:     }
fp@1744: 
fp@1744:     if (!found) {
fp@1744:         EC_ERR("Slave index out of range!\n");
fp@1744:         return NULL;
fp@1744:     }
fp@1744: 
fp@1744:     return ec_slave_validate(slave, vendor_id, product_code) ? NULL : slave;
fp@197: }
fp@197: 
fp@197: /*****************************************************************************/
fp@197: 
fp@197: /**
fp@204:    Sets the locking callbacks.
fp@226:    The request_cb function must return zero, to allow another instance
fp@226:    (the EoE process for example) to access the master. Non-zero means,
fp@226:    that access is forbidden at this time.
fp@204:    \ingroup RealtimeInterface
fp@204: */
fp@204: 
fp@204: void ecrt_master_callbacks(ec_master_t *master, /**< EtherCAT master */
fp@204:                            int (*request_cb)(void *), /**< request lock CB */
fp@204:                            void (*release_cb)(void *), /**< release lock CB */
fp@204:                            void *cb_data /**< data parameter */
fp@204:                            )
fp@204: {
fp@1744:     master->ext_request_cb = request_cb;
fp@1744:     master->ext_release_cb = release_cb;
fp@1744:     master->ext_cb_data = cb_data;
fp@1744: }
fp@1744: 
fp@1744: /*****************************************************************************/
fp@1744: 
fp@1744: /**
fp@1744:  * Reads the current master status.
fp@1744:  */
fp@1744: 
fp@1744: void ecrt_master_get_status(const ec_master_t *master, /**< EtherCAT master */
fp@1744:         ec_master_status_t *status /**< target status object */
fp@1744:         )
fp@1744: {
fp@1744:     status->bus_status =
fp@1744:         (master->pdo_slaves_offline || master->frames_timed_out)
fp@1744:         ? EC_BUS_FAILURE : EC_BUS_OK;
fp@1744:     status->bus_tainted = master->fsm.tainted; 
fp@1744:     status->slaves_responding = master->fsm.slaves_responding;
fp@204: }
fp@204: 
fp@204: /*****************************************************************************/
fp@204: 
fp@199: /** \cond */
fp@199: 
fp@104: EXPORT_SYMBOL(ecrt_master_create_domain);
fp@104: EXPORT_SYMBOL(ecrt_master_activate);
fp@1715: EXPORT_SYMBOL(ecrt_master_send);
fp@1715: EXPORT_SYMBOL(ecrt_master_receive);
fp@206: EXPORT_SYMBOL(ecrt_master_callbacks);
fp@138: EXPORT_SYMBOL(ecrt_master_get_slave);
fp@1744: EXPORT_SYMBOL(ecrt_master_get_slave_by_pos);
fp@1744: EXPORT_SYMBOL(ecrt_master_get_status);
fp@42: 
fp@199: /** \endcond */
fp@199: 
fp@199: /*****************************************************************************/