fp@39: /******************************************************************************
fp@0:  *
fp@39:  *  $Id$
fp@0:  *
fp@1326:  *  Copyright (C) 2006-2008  Florian Pose, Ingenieurgemeinschaft IgH
fp@197:  *
fp@197:  *  This file is part of the IgH EtherCAT Master.
fp@197:  *
fp@1326:  *  The IgH EtherCAT Master is free software; you can redistribute it and/or
fp@1326:  *  modify it under the terms of the GNU General Public License version 2, as
fp@1326:  *  published by the Free Software Foundation.
fp@1326:  *
fp@1326:  *  The IgH EtherCAT Master is distributed in the hope that it will be useful,
fp@1326:  *  but WITHOUT ANY WARRANTY; without even the implied warranty of
fp@1326:  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General
fp@1326:  *  Public License for more details.
fp@1326:  *
fp@1326:  *  You should have received a copy of the GNU General Public License along
fp@1326:  *  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@1363:  *  ---
fp@1363:  *
fp@1363:  *  The license mentioned above concerns the source code only. Using the
fp@1363:  *  EtherCAT technology and brand is only permitted in compliance with the
fp@1363:  *  industrial property and similar rights of Beckhoff Automation GmbH.
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@1015: #include <linux/device.h>
fp@1015: #include <linux/version.h>
fp@0: 
fp@54: #include "globals.h"
fp@55: #include "slave.h"
fp@792: #include "slave_config.h"
fp@54: #include "device.h"
fp@293: #include "datagram.h"
fp@715: #ifdef EC_EOE
fp@145: #include "ethernet.h"
fp@715: #endif
fp@792: #include "master.h"
fp@792: 
fp@792: /*****************************************************************************/
fp@792: 
fp@1279: #ifdef EC_HAVE_CYCLES
fp@1279: 
fp@1279: /** Frame timeout in cycles.
fp@1279:  */
fp@1279: static cycles_t timeout_cycles;
fp@1279: 
fp@1279: #else
fp@1279: 
fp@1279: /** Frame timeout in jiffies.
fp@1279:  */
fp@1279: static unsigned long timeout_jiffies;
fp@1279:     
fp@1279: #endif
fp@1279: 
fp@1279: /*****************************************************************************/
fp@1279: 
fp@995: void ec_master_clear_slave_configs(ec_master_t *);
fp@993: void ec_master_clear_domains(ec_master_t *);
fp@1241: static int ec_master_idle_thread(void *);
fp@1241: static int ec_master_operation_thread(void *);
fp@715: #ifdef EC_EOE
fp@251: void ec_master_eoe_run(unsigned long);
fp@715: #endif
fp@179: 
fp@179: /*****************************************************************************/
fp@179: 
fp@1279: /** Static variables initializer.
fp@1279: */
fp@1279: void ec_master_init_static(void)
fp@1279: {
fp@1279: #ifdef EC_HAVE_CYCLES
fp@1279:     timeout_cycles = (cycles_t) EC_IO_TIMEOUT /* us */ * (cpu_khz / 1000);
fp@1279: #else
fp@1279:     // one jiffy may always elapse between time measurement
fp@1279:     timeout_jiffies = max(EC_IO_TIMEOUT * HZ / 1000000, 1);
fp@1279: #endif
fp@1279: }
fp@1279: 
fp@1279: /*****************************************************************************/
fp@1279: 
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@576:         unsigned int index, /**< master index */
fp@639:         const uint8_t *main_mac, /**< MAC address of main device */
fp@922:         const uint8_t *backup_mac, /**< MAC address of backup device */
fp@1013:         dev_t device_number, /**< Character device number. */
fp@1399:         struct class *class, /**< Device class. */
fp@1399:         unsigned int debug_level /**< Debug level (module parameter). */
fp@576:         )
fp@178: {
fp@1313:     int ret;
fp@1313: 
fp@178:     master->index = index;
fp@647:     master->reserved = 0;
fp@446: 
fp@1075:     init_MUTEX(&master->master_sem);
fp@1075: 
fp@639:     master->main_mac = main_mac;
fp@639:     master->backup_mac = backup_mac;
fp@381:     init_MUTEX(&master->device_sem);
fp@446: 
fp@1029:     master->phase = EC_ORPHANED;
fp@637:     master->injection_seq_fsm = 0;
fp@637:     master->injection_seq_rt = 0;
fp@446: 
fp@1000:     master->slaves = NULL;
fp@446:     master->slave_count = 0;
fp@656:     
fp@792:     INIT_LIST_HEAD(&master->configs);
fp@792: 
fp@1408: 	master->app_time = 0ULL;
fp@1408: 
fp@900:     master->scan_busy = 0;
fp@656:     master->allow_scan = 1;
fp@656:     init_MUTEX(&master->scan_sem);
fp@656:     init_waitqueue_head(&master->scan_queue);
fp@656: 
fp@900:     master->config_busy = 0;
fp@656:     master->allow_config = 1;
fp@656:     init_MUTEX(&master->config_sem);
fp@656:     init_waitqueue_head(&master->config_queue);
fp@656:     
fp@293:     INIT_LIST_HEAD(&master->datagram_queue);
fp@446:     master->datagram_index = 0;
fp@446: 
fp@95:     INIT_LIST_HEAD(&master->domains);
fp@792: 
fp@1399:     master->debug_level = debug_level;
fp@446:     master->stats.timeouts = 0;
fp@446:     master->stats.corrupted = 0;
fp@446:     master->stats.unmatched = 0;
fp@446:     master->stats.output_jiffies = 0;
fp@792:     master->frames_timed_out = 0;
fp@446: 
fp@1241:     master->thread = NULL;
fp@1241: 
fp@1041: #ifdef EC_EOE
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@446:     INIT_LIST_HEAD(&master->eoe_handlers);
fp@715: #endif
fp@446: 
fp@446:     master->internal_lock = SPIN_LOCK_UNLOCKED;
fp@446:     master->request_cb = NULL;
fp@446:     master->release_cb = NULL;
fp@446:     master->cb_data = NULL;
fp@446: 
fp@872:     INIT_LIST_HEAD(&master->sii_requests);
fp@872:     init_waitqueue_head(&master->sii_queue);
fp@601: 
fp@849:     INIT_LIST_HEAD(&master->slave_sdo_requests);
fp@646:     init_waitqueue_head(&master->sdo_queue);
fp@251: 
fp@1388:     INIT_LIST_HEAD(&master->reg_requests);
fp@1388:     init_waitqueue_head(&master->reg_queue);
fp@1200: 
fp@1335:     INIT_LIST_HEAD(&master->foe_requests);
fp@1335:     init_waitqueue_head(&master->foe_queue);
fp@1335: 
fp@579:     // init devices
fp@1313:     ret = ec_device_init(&master->main_device, master);
fp@1313:     if (ret < 0)
fp@997:         goto out_return;
fp@579: 
fp@1313:     ret = ec_device_init(&master->backup_device, master);
fp@1313:     if (ret < 0)
fp@579:         goto out_clear_main;
fp@579: 
fp@528:     // init state machine datagram
fp@528:     ec_datagram_init(&master->fsm_datagram);
fp@719:     snprintf(master->fsm_datagram.name, EC_DATAGRAM_NAME_SIZE, "master-fsm");
fp@1313:     ret = ec_datagram_prealloc(&master->fsm_datagram, EC_MAX_DATA_SIZE);
fp@1313:     if (ret < 0) {
fp@1394:         ec_datagram_clear(&master->fsm_datagram);
fp@528:         EC_ERR("Failed to allocate FSM datagram.\n");
fp@659:         goto out_clear_backup;
fp@528:     }
fp@528: 
fp@251:     // create state machine object
fp@528:     ec_fsm_master_init(&master->fsm, master, &master->fsm_datagram);
fp@226: 
fp@1396:     // init reference sync datagram
fp@1396:     ec_datagram_init(&master->ref_sync_datagram);
fp@1396:     snprintf(master->ref_sync_datagram.name, EC_DATAGRAM_NAME_SIZE, "refsync");
fp@1396:     ret = ec_datagram_apwr(&master->ref_sync_datagram, 0, 0x0910, 8);
fp@1396:     if (ret < 0) {
fp@1396:         ec_datagram_clear(&master->ref_sync_datagram);
fp@1396:         EC_ERR("Failed to allocate reference synchronisation datagram.\n");
fp@1396:         goto out_clear_fsm;
fp@1396:     }
fp@1396: 
fp@1394:     // init sync datagram
fp@1394:     ec_datagram_init(&master->sync_datagram);
fp@1394:     snprintf(master->sync_datagram.name, EC_DATAGRAM_NAME_SIZE, "sync");
fp@1408:     ret = ec_datagram_prealloc(&master->sync_datagram, 4);
fp@1394:     if (ret < 0) {
fp@1394:         ec_datagram_clear(&master->sync_datagram);
fp@1394:         EC_ERR("Failed to allocate synchronisation datagram.\n");
fp@1396:         goto out_clear_ref_sync;
fp@1394:     }
fp@1408: 	ec_master_find_dc_ref_clock(master);
fp@1394: 
fp@997:     // init character device
fp@1313:     ret = ec_cdev_init(&master->cdev, master, device_number);
fp@1313:     if (ret)
fp@1394:         goto out_clear_sync;
fp@1013:     
fp@1369: #if LINUX_VERSION_CODE >= KERNEL_VERSION(2, 6, 27)
fp@1369:     master->class_device = device_create(class, NULL,
fp@1369:             MKDEV(MAJOR(device_number), master->index), NULL,
fp@1369:             "EtherCAT%u", master->index);
fp@1369: #elif LINUX_VERSION_CODE >= KERNEL_VERSION(2, 6, 26)
fp@1250:     master->class_device = device_create(class, NULL,
fp@1250:             MKDEV(MAJOR(device_number), master->index),
fp@1250:             "EtherCAT%u", master->index);
fp@1250: #elif LINUX_VERSION_CODE >= KERNEL_VERSION(2, 6, 15)
fp@1250:     master->class_device = class_device_create(class, NULL,
fp@1369:             MKDEV(MAJOR(device_number), master->index), NULL,
fp@1369:             "EtherCAT%u", master->index);
fp@1015: #else
fp@1250:     master->class_device = class_device_create(class,
fp@1369:             MKDEV(MAJOR(device_number), master->index), NULL,
fp@1369:             "EtherCAT%u", master->index);
fp@1015: #endif
fp@1013:     if (IS_ERR(master->class_device)) {
fp@1013:         EC_ERR("Failed to create class device!\n");
fp@1313:         ret = PTR_ERR(master->class_device);
fp@1013:         goto out_clear_cdev;
fp@1013:     }
fp@144: 
fp@178:     return 0;
fp@226: 
fp@1013: out_clear_cdev:
fp@1013:     ec_cdev_clear(&master->cdev);
fp@1394: out_clear_sync:
fp@1394:     ec_datagram_clear(&master->sync_datagram);
fp@1396: out_clear_ref_sync:
fp@1396:     ec_datagram_clear(&master->ref_sync_datagram);
fp@659: out_clear_fsm:
fp@659:     ec_fsm_master_clear(&master->fsm);
fp@997:     ec_datagram_clear(&master->fsm_datagram);
fp@659: out_clear_backup:
fp@579:     ec_device_clear(&master->backup_device);
fp@579: out_clear_main:
fp@579:     ec_device_clear(&master->main_device);
fp@579: out_return:
fp@1313:     return ret;
fp@0: }
fp@0: 
fp@39: /*****************************************************************************/
fp@0: 
fp@997: /** Destructor.
fp@195: */
fp@639: void ec_master_clear(
fp@639:         ec_master_t *master /**< EtherCAT master */
fp@639:         )
fp@639: {
fp@1250: #if LINUX_VERSION_CODE >= KERNEL_VERSION(2, 6, 26)
fp@1250:     device_unregister(master->class_device);
fp@1250: #else
fp@1013:     class_device_unregister(master->class_device);
fp@1250: #endif
fp@1394: 
fp@995:     ec_cdev_clear(&master->cdev);
fp@1394:     
fp@715: #ifdef EC_EOE
fp@661:     ec_master_clear_eoe_handlers(master);
fp@715: #endif
fp@994:     ec_master_clear_domains(master);
fp@995:     ec_master_clear_slave_configs(master);
fp@992:     ec_master_clear_slaves(master);
fp@1394: 
fp@1394:     ec_datagram_clear(&master->sync_datagram);
fp@1396:     ec_datagram_clear(&master->ref_sync_datagram);
fp@528:     ec_fsm_master_clear(&master->fsm);
fp@528:     ec_datagram_clear(&master->fsm_datagram);
fp@661:     ec_device_clear(&master->backup_device);
fp@661:     ec_device_clear(&master->main_device);
fp@661: }
fp@661: 
fp@661: /*****************************************************************************/
fp@661: 
fp@715: #ifdef EC_EOE
fp@792: /** Clear and free all EoE handlers.
fp@661:  */
fp@661: void ec_master_clear_eoe_handlers(
fp@661:         ec_master_t *master /**< EtherCAT master */
fp@661:         )
fp@661: {
fp@661:     ec_eoe_t *eoe, *next;
fp@661: 
fp@661:     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@73: }
fp@715: #endif
fp@73: 
fp@73: /*****************************************************************************/
fp@73: 
fp@995: /** Clear all slave configurations.
fp@792:  */
fp@995: void ec_master_clear_slave_configs(ec_master_t *master)
fp@792: {
fp@792:     ec_slave_config_t *sc, *next;
fp@792: 
fp@792:     list_for_each_entry_safe(sc, next, &master->configs, list) {
fp@792:         list_del(&sc->list);
fp@995:         ec_slave_config_clear(sc);
fp@995:         kfree(sc);
fp@792:     }
fp@792: }
fp@792: 
fp@792: /*****************************************************************************/
fp@792: 
fp@997: /** Clear all slaves.
fp@792:  */
fp@992: void ec_master_clear_slaves(ec_master_t *master)
fp@238: {
fp@1000:     ec_slave_t *slave;
fp@1000: 
fp@1000:     for (slave = master->slaves;
fp@1000:             slave < master->slaves + master->slave_count;
fp@1000:             slave++) {
fp@992:         ec_slave_clear(slave);
fp@1004:     }
fp@1004: 
fp@1004:     if (master->slaves) {
fp@1000:         kfree(master->slaves);
fp@1000:         master->slaves = NULL;
fp@1004:     }
fp@1004: 
fp@1004:     master->slave_count = 0;
fp@74: }
fp@74: 
fp@74: /*****************************************************************************/
fp@74: 
fp@997: /** Clear all domains.
fp@997:  */
fp@993: void ec_master_clear_domains(ec_master_t *master)
fp@448: {
fp@792:     ec_domain_t *domain, *next;
fp@792: 
fp@792:     list_for_each_entry_safe(domain, next, &master->domains, list) {
fp@448:         list_del(&domain->list);
fp@993:         ec_domain_clear(domain);
fp@993:         kfree(domain);
fp@448:     }
fp@448: }
fp@448: 
fp@448: /*****************************************************************************/
fp@448: 
fp@997: /** Internal locking callback.
fp@997:  */
fp@515: int ec_master_request_cb(void *master /**< callback data */)
fp@515: {
fp@515:     spin_lock(&((ec_master_t *) master)->internal_lock);
fp@515:     return 0;
fp@515: }
fp@515: 
fp@515: /*****************************************************************************/
fp@515: 
fp@997: /** Internal unlocking callback.
fp@997:  */
fp@515: void ec_master_release_cb(void *master /**< callback data */)
fp@515: {
fp@515:     spin_unlock(&((ec_master_t *) master)->internal_lock);
fp@515: }
fp@515: 
fp@515: /*****************************************************************************/
fp@515: 
fp@997: /** Starts the master thread.
fp@1313:  *
fp@1313:  * \retval  0 Success.
fp@1313:  * \retval <0 Error code.
fp@997:  */
fp@656: int ec_master_thread_start(
fp@656:         ec_master_t *master, /**< EtherCAT master */
fp@1241:         int (*thread_func)(void *), /**< thread function to start */
fp@1241:         const char *name /**< Thread name. */
fp@656:         )
fp@656: {
fp@1241:     EC_INFO("Starting %s thread.\n", name);
fp@1241:     master->thread = kthread_run(thread_func, master, name);
fp@1241:     if (IS_ERR(master->thread)) {
fp@1313:         int err = (int) PTR_ERR(master->thread);
fp@1313:         EC_ERR("Failed to start master thread (error %i)!\n", err);
fp@1241:         master->thread = NULL;
fp@1313:         return err;
fp@1241:     }
fp@525:     
fp@525:     return 0;
fp@525: }
fp@525: 
fp@525: /*****************************************************************************/
fp@525: 
fp@997: /** Stops the master thread.
fp@997:  */
fp@1029: void ec_master_thread_stop(
fp@1029:         ec_master_t *master /**< EtherCAT master */
fp@1029:         )
fp@525: {
fp@1040:     unsigned long sleep_jiffies;
fp@1040:     
fp@1241:     if (!master->thread) {
fp@1241:         EC_WARN("ec_master_thread_stop(): Already finished!\n");
fp@656:         return;
fp@656:     }
fp@656: 
fp@1006:     if (master->debug_level)
fp@1006:         EC_DBG("Stopping master thread.\n");
fp@1006: 
fp@1241:     kthread_stop(master->thread);
fp@1241:     master->thread = NULL;
fp@656:     EC_INFO("Master thread exited.\n");
fp@656: 
fp@1198:     if (master->fsm_datagram.state != EC_DATAGRAM_SENT)
fp@1198:         return;
fp@656:     
fp@656:     // wait for FSM datagram
fp@1040:     sleep_jiffies = max(HZ / 100, 1); // 10 ms, at least 1 jiffy
fp@1040:     schedule_timeout(sleep_jiffies);
fp@525: }
fp@525: 
fp@525: /*****************************************************************************/
fp@525: 
fp@1029: /** Transition function from ORPHANED to IDLE phase.
fp@1029:  */
fp@1029: int ec_master_enter_idle_phase(
fp@1029:         ec_master_t *master /**< EtherCAT master */
fp@1029:         )
fp@446: {
fp@1313:     int ret;
fp@1313: 
fp@1075:     if (master->debug_level)
fp@1075:         EC_DBG("ORPHANED -> IDLE.\n");
fp@1075: 
fp@515:     master->request_cb = ec_master_request_cb;
fp@515:     master->release_cb = ec_master_release_cb;
fp@515:     master->cb_data = master;
fp@637: 
fp@1029:     master->phase = EC_IDLE;
fp@1313:     ret = ec_master_thread_start(master, ec_master_idle_thread,
fp@1313:             "EtherCAT-IDLE");
fp@1313:     if (ret)
fp@1029:         master->phase = EC_ORPHANED;
fp@1313: 
fp@1313:     return ret;
fp@446: }
fp@446: 
fp@446: /*****************************************************************************/
fp@446: 
fp@1029: /** Transition function from IDLE to ORPHANED phase.
fp@1029:  */
fp@1029: void ec_master_leave_idle_phase(ec_master_t *master /**< EtherCAT master */)
fp@446: {
fp@1006:     if (master->debug_level)
fp@1006:         EC_DBG("IDLE -> ORPHANED.\n");
fp@1006: 
fp@1029:     master->phase = EC_ORPHANED;
fp@525:     
fp@715: #ifdef EC_EOE
fp@446:     ec_master_eoe_stop(master);
fp@715: #endif
fp@525:     ec_master_thread_stop(master);
fp@1075: 
fp@1075:     down(&master->master_sem);
fp@992:     ec_master_clear_slaves(master);
fp@1075:     up(&master->master_sem);
fp@446: }
fp@446: 
fp@446: /*****************************************************************************/
fp@446: 
fp@1029: /** Transition function from IDLE to OPERATION phase.
fp@1029:  */
fp@1029: int ec_master_enter_operation_phase(ec_master_t *master /**< EtherCAT master */)
fp@446: {
fp@1313:     int ret = 0;
fp@446:     ec_slave_t *slave;
fp@715: #ifdef EC_EOE
fp@661:     ec_eoe_t *eoe;
fp@715: #endif
fp@446: 
fp@1006:     if (master->debug_level)
fp@1006:         EC_DBG("IDLE -> OPERATION.\n");
fp@1006: 
fp@656:     down(&master->config_sem);
fp@656:     master->allow_config = 0; // temporarily disable slave configuration
fp@900:     if (master->config_busy) {
fp@900:         up(&master->config_sem);
fp@900: 
fp@900:         // wait for slave configuration to complete
fp@1313:         ret = wait_event_interruptible(master->config_queue,
fp@1313:                     !master->config_busy);
fp@1313:         if (ret) {
fp@900:             EC_INFO("Finishing slave configuration interrupted by signal.\n");
fp@900:             goto out_allow;
fp@900:         }
fp@900: 
fp@900:         if (master->debug_level)
fp@900:             EC_DBG("Waiting for pending slave configuration returned.\n");
fp@900:     } else {
fp@900:         up(&master->config_sem);
fp@900:     }
fp@900: 
fp@656:     down(&master->scan_sem);
fp@656:     master->allow_scan = 0; // 'lock' the slave list
fp@900:     if (!master->scan_busy) {
fp@900:         up(&master->scan_sem);
fp@900:     } else {
fp@900:         up(&master->scan_sem);
fp@900: 
fp@794:         // wait for slave scan to complete
fp@1313:         ret = wait_event_interruptible(master->scan_queue, !master->scan_busy);
fp@1313:         if (ret) {
fp@794:             EC_INFO("Waiting for slave scan interrupted by signal.\n");
fp@794:             goto out_allow;
fp@794:         }
fp@900:         
fp@900:         if (master->debug_level)
fp@900:             EC_DBG("Waiting for pending slave scan returned.\n");
fp@900:     }
fp@656: 
fp@656:     // set states for all slaves
fp@1000:     for (slave = master->slaves;
fp@1000:             slave < master->slaves + master->slave_count;
fp@1000:             slave++) {
fp@643:         ec_slave_request_state(slave, EC_SLAVE_STATE_PREOP);
fp@446:     }
fp@715: #ifdef EC_EOE
fp@661:     // ... but set EoE slaves to OP
fp@661:     list_for_each_entry(eoe, &master->eoe_handlers, list) {
fp@661:         if (ec_eoe_is_open(eoe))
fp@661:             ec_slave_request_state(eoe->slave, EC_SLAVE_STATE_OP);
fp@661:     }
fp@715: #endif
fp@446: 
fp@1029:     master->phase = EC_OPERATION;
fp@661:     master->ext_request_cb = NULL;
fp@661:     master->ext_release_cb = NULL;
fp@661:     master->ext_cb_data = NULL;
fp@1313:     return ret;
fp@656:     
fp@656: out_allow:
fp@656:     master->allow_scan = 1;
fp@656:     master->allow_config = 1;
fp@1313:     return ret;
fp@446: }
fp@446: 
fp@446: /*****************************************************************************/
fp@446: 
fp@1029: /** Transition function from OPERATION to IDLE phase.
fp@1029:  */
fp@1029: void ec_master_leave_operation_phase(ec_master_t *master
fp@446:                                     /**< EtherCAT master */)
fp@446: {
fp@446:     ec_slave_t *slave;
fp@715: #ifdef EC_EOE
fp@661:     ec_eoe_t *eoe;
fp@715: #endif
fp@656: 
fp@1006:     if (master->debug_level)
fp@1006:         EC_DBG("OPERATION -> IDLE.\n");
fp@1006: 
fp@1029:     master->phase = EC_IDLE;
fp@656: 
fp@715: #ifdef EC_EOE
fp@656:     ec_master_eoe_stop(master);
fp@715: #endif
fp@656:     ec_master_thread_stop(master);
fp@656:     
fp@656:     master->request_cb = ec_master_request_cb;
fp@656:     master->release_cb = ec_master_release_cb;
fp@656:     master->cb_data = master;
fp@528:     
fp@1075:     down(&master->master_sem);
fp@993:     ec_master_clear_domains(master);
fp@995:     ec_master_clear_slave_configs(master);
fp@1075:     up(&master->master_sem);
fp@792: 
fp@1000:     for (slave = master->slaves;
fp@1000:             slave < master->slaves + master->slave_count;
fp@1000:             slave++) {
fp@1178: 
fp@1178:         // set states for all slaves
fp@449:         ec_slave_request_state(slave, EC_SLAVE_STATE_PREOP);
fp@1178: 
fp@1178:         // mark for reconfiguration, because the master could have no
fp@1178:         // possibility for a reconfiguration between two sequential operation
fp@1178:         // phases.
fp@1178:         slave->force_config = 1;
fp@1178:     }
fp@1178: 
fp@715: #ifdef EC_EOE
fp@661:     // ... but leave EoE slaves in OP
fp@661:     list_for_each_entry(eoe, &master->eoe_handlers, list) {
fp@661:         if (ec_eoe_is_open(eoe))
fp@661:             ec_slave_request_state(eoe->slave, EC_SLAVE_STATE_OP);
fp@661:     }
fp@715: #endif
fp@448: 
fp@1241:     if (ec_master_thread_start(master, ec_master_idle_thread,
fp@1241:                 "EtherCAT-IDLE"))
fp@661:         EC_WARN("Failed to restart master thread!\n");
fp@715: #ifdef EC_EOE
fp@661:     ec_master_eoe_start(master);
fp@715: #endif
fp@661: 
fp@656:     master->allow_scan = 1;
fp@656:     master->allow_config = 1;
fp@446: }
fp@446: 
fp@446: /*****************************************************************************/
fp@446: 
fp@997: /** Places a datagram in the datagram queue.
fp@997:  */
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@719:             datagram->skip_count++;
fp@637:             if (master->debug_level)
fp@637:                 EC_DBG("skipping datagram %x.\n", (unsigned int) datagram);
fp@325:             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@325:     datagram->state = EC_DATAGRAM_QUEUED;
fp@293: }
fp@293: 
fp@293: /*****************************************************************************/
fp@293: 
fp@997: /** Sends the datagrams in the queue.
fp@997:  *
fp@997:  * \return 0 in case of success, else < 0
fp@997:  */
fp@293: void ec_master_send_datagrams(ec_master_t *master /**< EtherCAT master */)
fp@293: {
fp@398:     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@1040: #ifdef EC_HAVE_CYCLES
fp@398:     cycles_t cycles_start, cycles_sent, cycles_end;
fp@1040: #endif
fp@398:     unsigned long jiffies_sent;
fp@293:     unsigned int frame_count, more_datagrams_waiting;
fp@398:     struct list_head sent_datagrams;
fp@398: 
fp@1040: #ifdef EC_HAVE_CYCLES
fp@398:     cycles_start = get_cycles();
fp@1040: #endif
fp@176:     frame_count = 0;
fp@398:     INIT_LIST_HEAD(&sent_datagrams);
fp@208: 
fp@303:     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@579:         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@325:             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@398:             list_add_tail(&datagram->sent, &sent_datagrams);
fp@293:             datagram->index = master->datagram_index++;
fp@176: 
fp@303:             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@708:             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@398:         if (list_empty(&sent_datagrams)) {
fp@303:             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@303:         if (unlikely(master->debug_level > 1))
fp@986:             EC_DBG("frame size: %u\n", cur_data - frame_data);
fp@176: 
fp@195:         // send frame
fp@579:         ec_device_send(&master->main_device, cur_data - frame_data);
fp@1040: #ifdef EC_HAVE_CYCLES
fp@398:         cycles_sent = get_cycles();
fp@1040: #endif
fp@398:         jiffies_sent = jiffies;
fp@398: 
fp@398:         // set datagram states and sending timestamps
fp@398:         list_for_each_entry_safe(datagram, next, &sent_datagrams, sent) {
fp@398:             datagram->state = EC_DATAGRAM_SENT;
fp@1040: #ifdef EC_HAVE_CYCLES
fp@398:             datagram->cycles_sent = cycles_sent;
fp@1040: #endif
fp@398:             datagram->jiffies_sent = jiffies_sent;
fp@398:             list_del_init(&datagram->sent); // empty list of sent datagrams
fp@398:         }
fp@398: 
fp@176:         frame_count++;
fp@176:     }
fp@293:     while (more_datagrams_waiting);
fp@98: 
fp@1040: #ifdef EC_HAVE_CYCLES
fp@303:     if (unlikely(master->debug_level > 1)) {
fp@344:         cycles_end = get_cycles();
fp@986:         EC_DBG("ec_master_send_datagrams sent %u frames in %uus.\n",
fp@344:                frame_count,
fp@344:                (unsigned int) (cycles_end - cycles_start) * 1000 / cpu_khz);
fp@176:     }
fp@1040: #endif
fp@176: }
fp@176: 
fp@176: /*****************************************************************************/
fp@176: 
fp@997: /** Processes a received frame.
fp@997:  *
fp@997:  * This function is called by the network driver for every received frame.
fp@997:  * 
fp@997:  * \return 0 in case of success, else < 0
fp@997:  */
fp@331: void ec_master_receive_datagrams(ec_master_t *master, /**< EtherCAT master */
fp@331:                                  const uint8_t *frame_data, /**< frame data */
fp@331:                                  size_t size /**< size of the received data */
fp@331:                                  )
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@1303:         if (master->debug_level) {
fp@1303:             EC_DBG("Corrupted frame received (size %u < %u byte):\n",
fp@1303:                     size, EC_FRAME_HEADER_SIZE);
fp@1303:             ec_print_data(frame_data, size);
fp@1303:         }
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@1303:         if (master->debug_level) {
fp@1303:             EC_DBG("Corrupted frame received (invalid frame size %u for "
fp@1303:                     "received size %u):\n", frame_size, size);
fp@1303:             ec_print_data(frame_data, size);
fp@1303:         }
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@1303:             if (master->debug_level) {
fp@1303:                 EC_DBG("Corrupted frame received (invalid data size %u):\n",
fp@1303:                         data_size);
fp@1303:                 ec_print_data(frame_data, size);
fp@1303:             }
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@690:             if (datagram->index == datagram_index
fp@690:                 && 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@684: 
fp@684:             if (unlikely(master->debug_level > 0)) {
fp@684:                 EC_DBG("UNMATCHED datagram:\n");
fp@684:                 ec_print_data(cur_data - EC_DATAGRAM_HEADER_SIZE,
fp@684:                         EC_DATAGRAM_HEADER_SIZE + data_size
fp@684:                         + EC_DATAGRAM_FOOTER_SIZE);
fp@692: #ifdef EC_DEBUG_RING
fp@692:                 ec_device_debug_ring_print(&master->main_device);
fp@692: #endif
fp@684:             }
fp@684: 
fp@293:             cur_data += data_size + EC_DATAGRAM_FOOTER_SIZE;
fp@98:             continue;
fp@98:         }
fp@98: 
fp@345:         // 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@325:         datagram->state = EC_DATAGRAM_RECEIVED;
fp@1040: #ifdef EC_HAVE_CYCLES
fp@579:         datagram->cycles_received = master->main_device.cycles_poll;
fp@1040: #endif
fp@579:         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@1029: /** Output master statistics.
fp@997:  *
fp@997:  * This function outputs statistical data on demand, but not more often than
fp@997:  * necessary. The output happens at most once a second.
fp@997:  */
fp@195: void ec_master_output_stats(ec_master_t *master /**< EtherCAT master */)
fp@98: {
fp@344:     if (unlikely(jiffies - master->stats.output_jiffies >= HZ)) {
fp@344:         master->stats.output_jiffies = jiffies;
fp@344: 
fp@98:         if (master->stats.timeouts) {
fp@986:             EC_WARN("%u datagram%s TIMED OUT!\n", master->stats.timeouts,
fp@396:                     master->stats.timeouts == 1 ? "" : "s");
fp@98:             master->stats.timeouts = 0;
fp@98:         }
fp@98:         if (master->stats.corrupted) {
fp@986:             EC_WARN("%u frame%s CORRUPTED!\n", master->stats.corrupted,
fp@396:                     master->stats.corrupted == 1 ? "" : "s");
fp@98:             master->stats.corrupted = 0;
fp@98:         }
fp@98:         if (master->stats.unmatched) {
fp@986:             EC_WARN("%u datagram%s UNMATCHED!\n", master->stats.unmatched,
fp@396:                     master->stats.unmatched == 1 ? "" : "s");
fp@98:             master->stats.unmatched = 0;
fp@98:         }
fp@73:     }
fp@54: }
fp@54: 
fp@68: /*****************************************************************************/
fp@68: 
fp@1029: /** Master kernel thread function for IDLE phase.
fp@997:  */
fp@1241: static int ec_master_idle_thread(void *priv_data)
fp@1241: {
fp@1241:     ec_master_t *master = (ec_master_t *) priv_data;
fp@1241: 
fp@1241:     if (master->debug_level)
fp@1241:         EC_DBG("Idle thread running.\n");
fp@1241: 
fp@1241:     while (!kthread_should_stop()) {
fp@719:         ec_datagram_output_stats(&master->fsm_datagram);
fp@525: 
fp@1031:         // receive
fp@1031:         spin_lock_bh(&master->internal_lock);
fp@1031:         ecrt_master_receive(master);
fp@1031:         spin_unlock_bh(&master->internal_lock);
fp@1031: 
fp@1031:         if (master->fsm_datagram.state == EC_DATAGRAM_SENT)
fp@1031:             goto schedule;
fp@651: 
fp@525:         // execute master state machine
fp@1241:         if (down_interruptible(&master->master_sem))
fp@1241:             break;
fp@1031:         ec_fsm_master_exec(&master->fsm);
fp@1075:         up(&master->master_sem);
fp@1031: 
fp@1031:         // queue and send
fp@1031:         spin_lock_bh(&master->internal_lock);
fp@1031:         ec_master_queue_datagram(master, &master->fsm_datagram);
fp@1031:         ecrt_master_send(master);
fp@1031:         spin_unlock_bh(&master->internal_lock);
fp@525:         
fp@651: schedule:
fp@650:         if (ec_fsm_master_idle(&master->fsm)) {
fp@650:             set_current_state(TASK_INTERRUPTIBLE);
fp@650:             schedule_timeout(1);
fp@650:         }
fp@650:         else {
fp@650:             schedule();
fp@650:         }
fp@525:     }
fp@518:     
fp@656:     if (master->debug_level)
fp@656:         EC_DBG("Master IDLE thread exiting...\n");
fp@1241:     return 0;
fp@191: }
fp@191: 
fp@637: /*****************************************************************************/
fp@637: 
fp@1029: /** Master kernel thread function for IDLE phase.
fp@997:  */
fp@1241: static int ec_master_operation_thread(void *priv_data)
fp@1241: {
fp@1241:     ec_master_t *master = (ec_master_t *) priv_data;
fp@1241: 
fp@1241:     if (master->debug_level)
fp@1241:         EC_DBG("Operation thread running.\n");
fp@1241: 
fp@1241:     while (!kthread_should_stop()) {
fp@719:         ec_datagram_output_stats(&master->fsm_datagram);
fp@637:         if (master->injection_seq_rt != master->injection_seq_fsm ||
fp@637:                 master->fsm_datagram.state == EC_DATAGRAM_SENT ||
fp@637:                 master->fsm_datagram.state == EC_DATAGRAM_QUEUED)
fp@637:             goto schedule;
fp@637: 
fp@637:         // output statistics
fp@637:         ec_master_output_stats(master);
fp@637: 
fp@637:         // execute master state machine
fp@1241:         if (down_interruptible(&master->master_sem))
fp@1241:             break;
fp@1031:         ec_fsm_master_exec(&master->fsm);
fp@1075:         up(&master->master_sem);
fp@1031: 
fp@1031:         // inject datagram
fp@1031:         master->injection_seq_fsm++;
fp@637: 
fp@637: schedule:
fp@650:         if (ec_fsm_master_idle(&master->fsm)) {
fp@650:             set_current_state(TASK_INTERRUPTIBLE);
fp@650:             schedule_timeout(1);
fp@650:         }
fp@650:         else {
fp@650:             schedule();
fp@650:         }
fp@637:     }
fp@637:     
fp@656:     if (master->debug_level)
fp@656:         EC_DBG("Master OP thread exiting...\n");
fp@1241:     return 0;
fp@637: }
fp@578: 
fp@578: /*****************************************************************************/
fp@578: 
fp@715: #ifdef EC_EOE
fp@1327: /** Starts Ethernet over EtherCAT processing on demand.
fp@997:  */
fp@251: void ec_master_eoe_start(ec_master_t *master /**< EtherCAT master */)
fp@251: {
fp@661:     if (master->eoe_running) {
fp@661:         EC_WARN("EoE already running!\n");
fp@661:         return;
fp@661:     }
fp@661: 
fp@661:     if (list_empty(&master->eoe_handlers))
fp@661:         return;
fp@661: 
fp@661:     if (!master->request_cb || !master->release_cb) {
fp@661:         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@1327: /** Stops the Ethernet over EtherCAT processing.
fp@997:  */
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@441: 
fp@1327: /** Does the Ethernet over EtherCAT processing.
fp@997:  */
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@661:     unsigned int none_open = 1;
fp@344:     unsigned long restart_jiffies;
fp@235: 
fp@251:     list_for_each_entry(eoe, &master->eoe_handlers, list) {
fp@661:         if (ec_eoe_is_open(eoe)) {
fp@661:             none_open = 0;
fp@661:             break;
fp@661:         }
fp@661:     }
fp@661:     if (none_open)
fp@661:         goto queue_timer;
fp@251: 
fp@721:     // receive datagrams
fp@1041:     if (master->request_cb(master->cb_data))
fp@1041:         goto queue_timer;
fp@1041:     
fp@325:     ecrt_master_receive(master);
fp@721:     master->release_cb(master->cb_data);
fp@515: 
fp@515:     // actual EoE processing
fp@251:     list_for_each_entry(eoe, &master->eoe_handlers, list) {
fp@251:         ec_eoe_run(eoe);
fp@251:     }
fp@334: 
fp@515:     // send datagrams
fp@721:     if (master->request_cb(master->cb_data)) {
fp@721:         goto queue_timer;
fp@721:     }
fp@721:     list_for_each_entry(eoe, &master->eoe_handlers, list) {
fp@721:         ec_eoe_queue(eoe);
fp@721:     }
fp@325:     ecrt_master_send(master);
fp@721:     master->release_cb(master->cb_data);
fp@334: 
fp@251:  queue_timer:
fp@344:     restart_jiffies = HZ / EC_EOE_FREQUENCY;
fp@344:     if (!restart_jiffies) restart_jiffies = 1;
fp@721:     master->eoe_timer.expires = jiffies + restart_jiffies;
fp@208:     add_timer(&master->eoe_timer);
fp@197: }
fp@715: #endif
fp@197: 
fp@325: /*****************************************************************************/
fp@325: 
fp@792: /** Detaches the slave configurations from the slaves.
fp@640:  */
fp@792: void ec_master_detach_slave_configs(
fp@792:         ec_master_t *master /**< EtherCAT master. */
fp@640:         )
fp@197: {
fp@792:     ec_slave_config_t *sc;
fp@792: 
fp@792:     list_for_each_entry(sc, &master->configs, list) {
fp@792:         ec_slave_config_detach(sc); 
fp@792:     }
fp@792: }
fp@792: 
fp@792: /*****************************************************************************/
fp@792: 
fp@792: /** Attaches the slave configurations to the slaves.
fp@792:  */
fp@1028: void ec_master_attach_slave_configs(
fp@792:         ec_master_t *master /**< EtherCAT master. */
fp@792:         )
fp@792: {
fp@792:     ec_slave_config_t *sc;
fp@792: 
fp@792:     list_for_each_entry(sc, &master->configs, list) {
fp@1028:         ec_slave_config_attach(sc);
fp@1028:     }
fp@197: }
fp@197: 
fp@927: /*****************************************************************************/
fp@927: 
fp@1077: /** Common implementation for ec_master_find_slave()
fp@1077:  * and ec_master_find_slave_const().
fp@1077:  */
fp@1077: #define EC_FIND_SLAVE \
fp@1077:     do { \
fp@1077:         if (alias) { \
fp@1077:             for (; slave < master->slaves + master->slave_count; \
fp@1077:                     slave++) { \
fp@1077:                 if (slave->sii.alias == alias) \
fp@1077:                 break; \
fp@1077:             } \
fp@1077:             if (slave == master->slaves + master->slave_count) \
fp@1077:             return NULL; \
fp@1077:         } \
fp@1077:         \
fp@1077:         slave += position; \
fp@1077:         if (slave < master->slaves + master->slave_count) { \
fp@1077:             return slave; \
fp@1077:         } else { \
fp@1077:             return NULL; \
fp@1077:         } \
fp@1077:     } while (0)
fp@1077: 
fp@927: /** Finds a slave in the bus, given the alias and position.
fp@927:  */
fp@927: ec_slave_t *ec_master_find_slave(
fp@927:         ec_master_t *master, /**< EtherCAT master. */
fp@927:         uint16_t alias, /**< Slave alias. */
fp@927:         uint16_t position /**< Slave position. */
fp@927:         )
fp@927: {
fp@1000:     ec_slave_t *slave = master->slaves;
fp@1077:     EC_FIND_SLAVE;
fp@1077: }
fp@1077: 
fp@1077: /** Finds a slave in the bus, given the alias and position.
fp@1077:  *
fp@1077:  * Const version.
fp@1077:  */
fp@1077: const ec_slave_t *ec_master_find_slave_const(
fp@1077:         const ec_master_t *master, /**< EtherCAT master. */
fp@1077:         uint16_t alias, /**< Slave alias. */
fp@1077:         uint16_t position /**< Slave position. */
fp@1077:         )
fp@1077: {
fp@1077:     const ec_slave_t *slave = master->slaves;
fp@1077:     EC_FIND_SLAVE;
fp@927: }
fp@927: 
fp@946: /*****************************************************************************/
fp@946: 
fp@1092: /** Get the number of slave configurations provided by the application.
fp@1092:  *
fp@1092:  * \return Number of configurations.
fp@1092:  */
fp@990: unsigned int ec_master_config_count(
fp@990: 		const ec_master_t *master /**< EtherCAT master. */
fp@990: 		)
fp@990: {
fp@990: 	const ec_slave_config_t *sc;
fp@990: 	unsigned int count = 0;
fp@990: 
fp@990: 	list_for_each_entry(sc, &master->configs, list) {
fp@990: 		count++;
fp@990: 	}
fp@990: 
fp@990: 	return count;
fp@990: }
fp@990: 
fp@990: /*****************************************************************************/
fp@990: 
fp@1252: /** Common implementation for ec_master_get_config()
fp@1252:  * and ec_master_get_config_const().
fp@1252:  */
fp@1252: #define EC_FIND_CONFIG \
fp@1252:     do { \
fp@1252: 		list_for_each_entry(sc, &master->configs, list) { \
fp@1252: 			if (pos--) \
fp@1252: 				continue; \
fp@1252: 			return sc; \
fp@1252: 		} \
fp@1252: 		return NULL; \
fp@1252:     } while (0)
fp@1252: 
fp@1252: /** Get a slave configuration via its position in the list.
fp@1252:  *
fp@1252:  * \return Slave configuration or \a NULL.
fp@1252:  */
fp@1252: ec_slave_config_t *ec_master_get_config(
fp@1252: 		const ec_master_t *master, /**< EtherCAT master. */
fp@1252: 		unsigned int pos /**< List position. */
fp@1252: 		)
fp@1252: {
fp@1252: 	ec_slave_config_t *sc;
fp@1252: 	EC_FIND_CONFIG;
fp@1252: }
fp@1252: 
fp@1092: /** Get a slave configuration via its position in the list.
fp@1092:  *
fp@1092:  * Const version.
fp@1092:  *
fp@1092:  * \return Slave configuration or \a NULL.
fp@1092:  */
fp@990: const ec_slave_config_t *ec_master_get_config_const(
fp@990: 		const ec_master_t *master, /**< EtherCAT master. */
fp@1092: 		unsigned int pos /**< List position. */
fp@990: 		)
fp@990: {
fp@990: 	const ec_slave_config_t *sc;
fp@1252: 	EC_FIND_CONFIG;
fp@990: }
fp@990: 
fp@990: /*****************************************************************************/
fp@990: 
fp@1092: /** Get the number of domains.
fp@1092:  *
fp@1092:  * \return Number of domains.
fp@1092:  */
fp@946: unsigned int ec_master_domain_count(
fp@946: 		const ec_master_t *master /**< EtherCAT master. */
fp@946: 		)
fp@946: {
fp@946: 	const ec_domain_t *domain;
fp@946: 	unsigned int count = 0;
fp@946: 
fp@946: 	list_for_each_entry(domain, &master->domains, list) {
fp@946: 		count++;
fp@946: 	}
fp@946: 
fp@946: 	return count;
fp@946: }
fp@946: 
fp@946: /*****************************************************************************/
fp@946: 
fp@1082: /** Common implementation for ec_master_find_domain() and
fp@1082:  * ec_master_find_domain_const().
fp@1082:  */
fp@1078: #define EC_FIND_DOMAIN \
fp@1078:     do { \
fp@1078:         list_for_each_entry(domain, &master->domains, list) { \
fp@1078:             if (index--) \
fp@1078:                 continue; \
fp@1078:             return domain; \
fp@1078:         } \
fp@1078:         \
fp@1078:         return NULL; \
fp@1078:     } while (0)
fp@1078: 
fp@1092: /** Get a domain via its position in the list.
fp@1092:  *
fp@1092:  * \return Domain pointer, or \a NULL if not found.
fp@1092:  */
fp@946: ec_domain_t *ec_master_find_domain(
fp@946: 		ec_master_t *master, /**< EtherCAT master. */
fp@946: 		unsigned int index /**< Domain index. */
fp@946: 		)
fp@946: {
fp@946: 	ec_domain_t *domain;
fp@1078:     EC_FIND_DOMAIN;
fp@1078: }
fp@1078: 
fp@1092: /** Get a domain via its position in the list.
fp@1092:  *
fp@1092:  * Const version.
fp@1092:  *
fp@1092:  * \return Domain pointer, or \a NULL if not found.
fp@1092:  */
fp@1078: const ec_domain_t *ec_master_find_domain_const(
fp@1078: 		const ec_master_t *master, /**< EtherCAT master. */
fp@1078: 		unsigned int index /**< Domain index. */
fp@1078: 		)
fp@1078: {
fp@1078: 	const ec_domain_t *domain;
fp@1078:     EC_FIND_DOMAIN;
fp@946: }
fp@946: 
fp@956: /*****************************************************************************/
fp@956: 
fp@1092: /** Set the debug level.
fp@1092:  *
fp@1313:  * \retval       0 Success.
fp@1313:  * \retval -EINVAL Invalid debug level.
fp@1092:  */
fp@956: int ec_master_debug_level(
fp@1092:         ec_master_t *master, /**< EtherCAT master. */
fp@1399:         unsigned int level /**< Debug level. May be 0, 1 or 2. */
fp@956:         )
fp@956: {
fp@1399:     if (level > 2) {
fp@1399:         EC_ERR("Invalid debug level %u!\n", level);
fp@1313:         return -EINVAL;
fp@956:     }
fp@956: 
fp@956:     if (level != master->debug_level) {
fp@956:         master->debug_level = level;
fp@1399:         EC_INFO("Master debug level set to %u.\n", master->debug_level);
fp@956:     }
fp@956: 
fp@956:     return 0;
fp@956: }
fp@956: 
fp@1408: /*****************************************************************************/
fp@1408: 
fp@1408: /** Finds the DC reference clock.
fp@1408:  */
fp@1408: void ec_master_find_dc_ref_clock(
fp@1408:         ec_master_t *master /**< EtherCAT master. */
fp@1408: 		)
fp@1408: {
fp@1408: 	ec_slave_t *slave;
fp@1408: 	uint16_t ref_clock_addr = 0xffff;
fp@1408: 
fp@1408:     for (slave = master->slaves;
fp@1408:             slave < master->slaves + master->slave_count;
fp@1408:             slave++) {
fp@1408: 		if (slave->base_dc_supported) {
fp@1408: 			ref_clock_addr = slave->station_address;
fp@1408: 			break;
fp@1408: 		}
fp@1408:     }
fp@1408: 
fp@1408: 	// This call always succeeds, because the datagram has been pre-allocated.
fp@1408: 	ec_datagram_frmw(&master->sync_datagram, ref_clock_addr, 0x0910, 4);
fp@1408: }
fp@1408: 
fp@640: /******************************************************************************
fp@1394:  *  Application interface
fp@640:  *****************************************************************************/
fp@640: 
fp@1332: /** Same as ecrt_master_create_domain(), but with ERR_PTR() return value.
fp@1332:  */
fp@1312: ec_domain_t *ecrt_master_create_domain_err(
fp@1312:         ec_master_t *master /**< master */
fp@1312:         )
fp@640: {
fp@640:     ec_domain_t *domain, *last_domain;
fp@640:     unsigned int index;
fp@640: 
fp@1181:     if (master->debug_level)
fp@1181:         EC_DBG("ecrt_master_create_domain(master = 0x%x)\n", (u32) master);
fp@1181: 
fp@640:     if (!(domain = (ec_domain_t *) kmalloc(sizeof(ec_domain_t), GFP_KERNEL))) {
fp@640:         EC_ERR("Error allocating domain memory!\n");
fp@1312:         return ERR_PTR(-ENOMEM);
fp@640:     }
fp@640: 
fp@1075:     down(&master->master_sem);
fp@1075: 
fp@993:     if (list_empty(&master->domains)) {
fp@993:         index = 0;
fp@993:     } else {
fp@640:         last_domain = list_entry(master->domains.prev, ec_domain_t, list);
fp@640:         index = last_domain->index + 1;
fp@640:     }
fp@640: 
fp@993:     ec_domain_init(domain, master, index);
fp@640:     list_add_tail(&domain->list, &master->domains);
fp@640: 
fp@1075:     up(&master->master_sem);
fp@1075: 
fp@1181:     if (master->debug_level)
fp@1181:         EC_DBG("Created domain %u.\n", domain->index);
fp@1181: 
fp@640:     return domain;
fp@640: }
fp@640: 
fp@640: /*****************************************************************************/
fp@640: 
fp@1312: ec_domain_t *ecrt_master_create_domain(
fp@1312:         ec_master_t *master /**< master */
fp@1312:         )
fp@1312: {
fp@1312:     ec_domain_t *d = ecrt_master_create_domain_err(master);
fp@1312:     return IS_ERR(d) ? NULL : d;
fp@1312: }
fp@1312: 
fp@1312: /*****************************************************************************/
fp@1312: 
fp@792: int ecrt_master_activate(ec_master_t *master)
fp@640: {
fp@640:     uint32_t domain_offset;
fp@640:     ec_domain_t *domain;
fp@1313:     int ret;
fp@640: 
fp@1181:     if (master->debug_level)
fp@1181:         EC_DBG("ecrt_master_activate(master = 0x%x)\n", (u32) master);
fp@1181: 
fp@1075:     down(&master->master_sem);
fp@1075: 
fp@792:     // finish all domains
fp@640:     domain_offset = 0;
fp@640:     list_for_each_entry(domain, &master->domains, list) {
fp@1313:         ret = ec_domain_finish(domain, domain_offset);
fp@1313:         if (ret < 0) {
fp@1197:             up(&master->master_sem);
fp@926:             EC_ERR("Failed to finish domain 0x%08X!\n", (u32) domain);
fp@1313:             return ret;
fp@640:         }
fp@640:         domain_offset += domain->data_size;
fp@640:     }
fp@1075:     
fp@1075:     up(&master->master_sem);
fp@640: 
fp@656:     // restart EoE process and master thread with new locking
fp@715: #ifdef EC_EOE
fp@656:     ec_master_eoe_stop(master);
fp@715: #endif
fp@656:     ec_master_thread_stop(master);
fp@656: 
fp@640:     if (master->debug_level)
fp@640:         EC_DBG("FSM datagram is %x.\n", (unsigned int) &master->fsm_datagram);
fp@640: 
fp@656:     master->injection_seq_fsm = 0;
fp@656:     master->injection_seq_rt = 0;
fp@661:     master->request_cb = master->ext_request_cb;
fp@661:     master->release_cb = master->ext_release_cb;
fp@661:     master->cb_data = master->ext_cb_data;
fp@656:     
fp@1313:     ret = ec_master_thread_start(master, ec_master_operation_thread,
fp@1313:                 "EtherCAT-OP");
fp@1313:     if (ret < 0) {
fp@640:         EC_ERR("Failed to start master thread!\n");
fp@1313:         return ret;
fp@640:     }
fp@715: #ifdef EC_EOE
fp@661:     ec_master_eoe_start(master);
fp@715: #endif
fp@902: 
fp@902:     master->allow_config = 1; // request the current configuration
fp@902:     master->allow_scan = 1; // allow re-scanning on topology change
fp@640:     return 0;
fp@640: }
fp@640: 
fp@640: /*****************************************************************************/
fp@640: 
fp@792: void ecrt_master_send(ec_master_t *master)
fp@640: {
fp@640:     ec_datagram_t *datagram, *n;
fp@640: 
fp@640:     if (master->injection_seq_rt != master->injection_seq_fsm) {
fp@640:         // inject datagram produced by master FSM
fp@640:         ec_master_queue_datagram(master, &master->fsm_datagram);
fp@640:         master->injection_seq_rt = master->injection_seq_fsm;
fp@640:     }
fp@640: 
fp@640:     if (unlikely(!master->main_device.link_state)) {
fp@640:         // link is down, no datagram can be sent
fp@640:         list_for_each_entry_safe(datagram, n, &master->datagram_queue, queue) {
fp@640:             datagram->state = EC_DATAGRAM_ERROR;
fp@640:             list_del_init(&datagram->queue);
fp@640:         }
fp@640: 
fp@640:         // query link state
fp@640:         ec_device_poll(&master->main_device);
fp@640:         return;
fp@640:     }
fp@640: 
fp@640:     // send frames
fp@640:     ec_master_send_datagrams(master);
fp@640: }
fp@640: 
fp@640: /*****************************************************************************/
fp@640: 
fp@792: void ecrt_master_receive(ec_master_t *master)
fp@640: {
fp@640:     ec_datagram_t *datagram, *next;
fp@664:     unsigned int frames_timed_out = 0;
fp@640: 
fp@640:     // receive datagrams
fp@640:     ec_device_poll(&master->main_device);
fp@640: 
fp@640:     // dequeue all datagrams that timed out
fp@640:     list_for_each_entry_safe(datagram, next, &master->datagram_queue, queue) {
fp@640:         if (datagram->state != EC_DATAGRAM_SENT) continue;
fp@640: 
fp@1040: #ifdef EC_HAVE_CYCLES
fp@640:         if (master->main_device.cycles_poll - datagram->cycles_sent
fp@1279:                 > timeout_cycles) {
fp@1040: #else
fp@1279:         if (master->main_device.jiffies_poll - datagram->jiffies_sent
fp@1279:                 > timeout_jiffies) {
fp@1040: #endif
fp@664:             frames_timed_out = 1;
fp@640:             list_del_init(&datagram->queue);
fp@640:             datagram->state = EC_DATAGRAM_TIMED_OUT;
fp@640:             master->stats.timeouts++;
fp@640:             ec_master_output_stats(master);
fp@684: 
fp@684:             if (unlikely(master->debug_level > 0)) {
fp@1237:                 unsigned int time_us;
fp@1237: #ifdef EC_HAVE_CYCLES
fp@1237:                 time_us = (unsigned int) (master->main_device.cycles_poll -
fp@1237:                         datagram->cycles_sent) * 1000 / cpu_khz;
fp@1237: #else
fp@1279:                 time_us = (unsigned int) ((master->main_device.jiffies_poll -
fp@1279:                             datagram->jiffies_sent) * 1000000 / HZ);
fp@1237: #endif
fp@691:                 EC_DBG("TIMED OUT datagram %08x, index %02X waited %u us.\n",
fp@1237:                         (unsigned int) datagram, datagram->index, time_us);
fp@684:             }
fp@640:         }
fp@640:     }
fp@664: 
fp@664:     master->frames_timed_out = frames_timed_out;
fp@640: }
fp@640: 
fp@640: /*****************************************************************************/
fp@640: 
fp@1332: /** Same as ecrt_master_slave_config(), but with ERR_PTR() return value.
fp@1332:  */
fp@1312: ec_slave_config_t *ecrt_master_slave_config_err(ec_master_t *master,
fp@792:         uint16_t alias, uint16_t position, uint32_t vendor_id,
fp@1010:         uint32_t product_code)
fp@792: {
fp@792:     ec_slave_config_t *sc;
fp@697:     unsigned int found = 0;
fp@697: 
fp@1181: 
fp@1181:     if (master->debug_level)
fp@1181:         EC_DBG("ecrt_master_slave_config(master = 0x%x, alias = %u, "
fp@1329:                 "position = %u, vendor_id = 0x%x, product_code = 0x%x)\n",
fp@1181:                 (u32) master, alias, position, vendor_id, product_code);
fp@1181: 
fp@792:     list_for_each_entry(sc, &master->configs, list) {
fp@792:         if (sc->alias == alias && sc->position == position) {
fp@697:             found = 1;
fp@697:             break;
fp@697:         }
fp@697:     }
fp@697: 
fp@1024:     if (found) { // config with same alias/position already existing
fp@1010:         if (sc->vendor_id != vendor_id || sc->product_code != product_code) {
fp@792:             EC_ERR("Slave type mismatch. Slave was configured as"
fp@1010:                     " 0x%08X/0x%08X before. Now configuring with"
fp@1010:                     " 0x%08X/0x%08X.\n", sc->vendor_id, sc->product_code,
fp@1010:                     vendor_id, product_code);
fp@1312:             return ERR_PTR(-ENOENT);
fp@792:         }
fp@792:     } else {
fp@1055:         if (master->debug_level)
fp@1055:             EC_DBG("Creating slave configuration for %u:%u, 0x%08X/0x%08X.\n",
fp@1055:                     alias, position, vendor_id, product_code);
fp@792: 
fp@792:         if (!(sc = (ec_slave_config_t *) kmalloc(sizeof(ec_slave_config_t),
fp@792:                         GFP_KERNEL))) {
fp@792:             EC_ERR("Failed to allocate memory for slave configuration.\n");
fp@1312:             return ERR_PTR(-ENOMEM);
fp@792:         }
fp@792: 
fp@995:         ec_slave_config_init(sc, master,
fp@1010:                 alias, position, vendor_id, product_code);
fp@792: 
fp@1075:         down(&master->master_sem);
fp@1075: 
fp@792:         // try to find the addressed slave
fp@1055:         ec_slave_config_attach(sc);
fp@1055:         ec_slave_config_load_default_sync_config(sc);
fp@792:         list_add_tail(&sc->list, &master->configs);
fp@1075: 
fp@1075:         up(&master->master_sem);
fp@792:     }
fp@792: 
fp@792:     return sc;
fp@792: }
fp@792: 
fp@792: /*****************************************************************************/
fp@792: 
fp@1312: ec_slave_config_t *ecrt_master_slave_config(ec_master_t *master,
fp@1312:         uint16_t alias, uint16_t position, uint32_t vendor_id,
fp@1312:         uint32_t product_code)
fp@1312: {
fp@1312:     ec_slave_config_t *sc = ecrt_master_slave_config_err(master, alias,
fp@1312:             position, vendor_id, product_code);
fp@1312:     return IS_ERR(sc) ? NULL : sc;
fp@1312: }
fp@1312: 
fp@1312: /*****************************************************************************/
fp@1312: 
fp@792: void ecrt_master_callbacks(ec_master_t *master, int (*request_cb)(void *),
fp@792:         void (*release_cb)(void *), void *cb_data)
fp@204: {
fp@1181:     if (master->debug_level)
fp@1181:         EC_DBG("ecrt_master_callbacks(master = 0x%x, request_cb = 0x%x, "
fp@1181:                 " release_cb = 0x%x, cb_data = 0x%x)\n", (u32) master,
fp@1181:                 (u32) request_cb, (u32) release_cb, (u32) cb_data);
fp@1181: 
fp@661:     master->ext_request_cb = request_cb;
fp@661:     master->ext_release_cb = release_cb;
fp@661:     master->ext_cb_data = cb_data;
fp@204: }
fp@204: 
fp@204: /*****************************************************************************/
fp@204: 
fp@792: void ecrt_master_state(const ec_master_t *master, ec_master_state_t *state)
fp@792: {
fp@792:     state->slaves_responding = master->fsm.slaves_responding;
fp@1022:     state->al_states = master->fsm.slave_states;
ha@1018:     state->link_up = master->main_device.link_state;
fp@612: }
fp@612: 
fp@612: /*****************************************************************************/
fp@612: 
fp@1396: void ecrt_master_sync(ec_master_t *master, const struct timeval *app_time)
fp@1396: {
fp@1396:     master->app_time = EC_TIMEVAL2NANO(app_time);
fp@1396: 
fp@1396: #if 1
fp@1396:     EC_WRITE_U32(master->ref_sync_datagram.data, master->app_time);
fp@1396:     ec_master_queue_datagram(master, &master->ref_sync_datagram);
fp@1396: #endif
fp@1396: 
fp@1396: #if 1
fp@1394:     ec_datagram_zero(&master->sync_datagram);
fp@1394:     ec_master_queue_datagram(master, &master->sync_datagram);
fp@1396: #endif
fp@1394: }
fp@1394: 
fp@1394: /*****************************************************************************/
fp@1394: 
fp@199: /** \cond */
fp@199: 
fp@104: EXPORT_SYMBOL(ecrt_master_create_domain);
fp@104: EXPORT_SYMBOL(ecrt_master_activate);
fp@325: EXPORT_SYMBOL(ecrt_master_send);
fp@325: EXPORT_SYMBOL(ecrt_master_receive);
fp@206: EXPORT_SYMBOL(ecrt_master_callbacks);
fp@792: EXPORT_SYMBOL(ecrt_master_slave_config);
fp@792: EXPORT_SYMBOL(ecrt_master_state);
fp@1394: EXPORT_SYMBOL(ecrt_master_sync);
fp@42: 
fp@199: /** \endcond */
fp@199: 
fp@199: /*****************************************************************************/