master.h

Go to the documentation of this file.

/******************************************************************************
 *
 *  $Id$
 *
 *  Copyright (C) 2006-2012  Florian Pose, Ingenieurgemeinschaft IgH
 *
 *  This file is part of the IgH EtherCAT Master.
 *
 *  The IgH EtherCAT Master is free software; you can redistribute it and/or
 *  modify it under the terms of the GNU General Public License version 2, as
 *  published by the Free Software Foundation.
 *
 *  The IgH EtherCAT Master is distributed in the hope that it will be useful,
 *  but WITHOUT ANY WARRANTY; without even the implied warranty of
 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General
 *  Public License for more details.
 *
 *  You should have received a copy of the GNU General Public License along
 *  with the IgH EtherCAT Master; if not, write to the Free Software
 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
 *
 *  ---
 *
 *  The license mentioned above concerns the source code only. Using the
 *  EtherCAT technology and brand is only permitted in compliance with the
 *  industrial property and similar rights of Beckhoff Automation GmbH.
 *
 *****************************************************************************/

/*****************************************************************************/

#ifndef __EC_MASTER_H__
#define __EC_MASTER_H__

#include <linux/version.h>
#include <linux/list.h>
#include <linux/timer.h>
#include <linux/wait.h>
#include <linux/kthread.h>

#if LINUX_VERSION_CODE >= KERNEL_VERSION(2, 6, 27)
#include <linux/semaphore.h>
#else
#include <asm/semaphore.h>
#endif

#include "device.h"
#include "domain.h"
#include "ethernet.h"
#include "fsm_master.h"
#include "cdev.h"

#ifdef EC_RTDM
#include "rtdm.h"
#endif

/*****************************************************************************/

#define EC_MASTER_INFO(master, fmt, args...) \
    printk(KERN_INFO "EtherCAT %u: " fmt, master->index, ##args)

#define EC_MASTER_ERR(master, fmt, args...) \
    printk(KERN_ERR "EtherCAT ERROR %u: " fmt, master->index, ##args)

#define EC_MASTER_WARN(master, fmt, args...) \
    printk(KERN_WARNING "EtherCAT WARNING %u: " fmt, master->index, ##args)

#define EC_MASTER_DBG(master, level, fmt, args...) \
    do { \
        if (master->debug_level >= level) { \
            printk(KERN_DEBUG "EtherCAT DEBUG %u: " fmt, \
                    master->index, ##args); \
        } \
    } while (0)


#define EC_EXT_RING_SIZE 32

/*****************************************************************************/

typedef enum {
    EC_ORPHANED, 
    EC_IDLE, 
    EC_OPERATION 
} ec_master_phase_t;

/*****************************************************************************/

typedef struct {
    unsigned int timeouts; 
    unsigned int corrupted; 
    unsigned int unmatched; 
    unsigned long output_jiffies; 
} ec_stats_t;

/*****************************************************************************/

typedef struct {
    u64 tx_count; 
    u64 last_tx_count; 
    u64 rx_count; 
    u64 last_rx_count; 
    u64 tx_bytes; 
    u64 last_tx_bytes; 
    u64 rx_bytes; 
    u64 last_rx_bytes; 
    u64 last_loss; 
    s32 tx_frame_rates[EC_RATE_COUNT]; 
    s32 rx_frame_rates[EC_RATE_COUNT]; 
    s32 tx_byte_rates[EC_RATE_COUNT]; 
    s32 rx_byte_rates[EC_RATE_COUNT]; 
    s32 loss_rates[EC_RATE_COUNT]; 
    unsigned long jiffies; 
} ec_device_stats_t;

/*****************************************************************************/

#if EC_MAX_NUM_DEVICES < 1
#error Invalid number of devices
#endif

/*****************************************************************************/

struct ec_master {
    unsigned int index; 
    unsigned int reserved; 
    ec_cdev_t cdev; 
#if LINUX_VERSION_CODE >= KERNEL_VERSION(2, 6, 26)
    struct device *class_device; 
#else
    struct class_device *class_device; 
#endif

#ifdef EC_RTDM
    ec_rtdm_dev_t rtdm_dev; 
#endif

    struct semaphore master_sem; 
    ec_device_t devices[EC_MAX_NUM_DEVICES]; 
    const uint8_t *macs[EC_MAX_NUM_DEVICES]; 
#if EC_MAX_NUM_DEVICES > 1
    unsigned int num_devices; 
#endif
    struct semaphore device_sem; 
    ec_device_stats_t device_stats; 
    ec_fsm_master_t fsm; 
    ec_datagram_t fsm_datagram; 
    ec_master_phase_t phase; 
    unsigned int active; 
    unsigned int config_changed; 
    unsigned int injection_seq_fsm; 
    unsigned int injection_seq_rt; 
    ec_slave_t *slaves; 
    unsigned int slave_count; 
    /* Configuration applied by the application. */
    struct list_head configs; 
    struct list_head domains; 
    u64 app_time; 
    u64 dc_ref_time; 
    ec_datagram_t ref_sync_datagram; 
    ec_datagram_t sync_datagram; 
    ec_datagram_t sync_mon_datagram; 
    ec_slave_config_t *dc_ref_config; 
    ec_slave_t *dc_ref_clock; 
    unsigned int scan_busy; 
    unsigned int allow_scan; 
    struct semaphore scan_sem; 
    wait_queue_head_t scan_queue; 
    unsigned int config_busy; 
    struct semaphore config_sem; 
    wait_queue_head_t config_queue; 
    struct list_head datagram_queue; 
    uint8_t datagram_index; 
    struct list_head ext_datagram_queue; 
    struct semaphore ext_queue_sem; 
    ec_datagram_t ext_datagram_ring[EC_EXT_RING_SIZE]; 
    unsigned int ext_ring_idx_rt; 
    unsigned int ext_ring_idx_fsm; 
    unsigned int send_interval; 
    size_t max_queue_size; 
    ec_slave_t *fsm_slave; 
    struct list_head fsm_exec_list; 
    unsigned int fsm_exec_count; 
    unsigned int debug_level; 
    unsigned int run_on_cpu;  
    ec_stats_t stats; 
    struct task_struct *thread; 
#ifdef EC_EOE
    struct task_struct *eoe_thread; 
    struct list_head eoe_handlers; 
#endif

    struct semaphore io_sem; 
    void (*send_cb)(void *); 
    void (*receive_cb)(void *); 
    void *cb_data; 
    void (*app_send_cb)(void *); 
    void (*app_receive_cb)(void *); 
    void *app_cb_data; 
    struct list_head sii_requests; 
    struct list_head emerg_reg_requests; 
    wait_queue_head_t request_queue; 
};

/*****************************************************************************/

// static funtions
void ec_master_init_static(void);

// master creation/deletion
int ec_master_init(ec_master_t *, unsigned int, const uint8_t *,
        const uint8_t *, dev_t, struct class *, unsigned int, unsigned int);
void ec_master_clear(ec_master_t *);

#if EC_MAX_NUM_DEVICES > 1
#define ec_master_num_devices(MASTER) ((MASTER)->num_devices)
#else
#define ec_master_num_devices(MASTER) 1
#endif

// phase transitions
int ec_master_enter_idle_phase(ec_master_t *);
void ec_master_leave_idle_phase(ec_master_t *);
int ec_master_enter_operation_phase(ec_master_t *);
void ec_master_leave_operation_phase(ec_master_t *);

#ifdef EC_EOE
// EoE
void ec_master_eoe_start(ec_master_t *);
void ec_master_eoe_stop(ec_master_t *);
#endif

// datagram IO
void ec_master_receive_datagrams(ec_master_t *, ec_device_t *,
        const uint8_t *, size_t);
void ec_master_queue_datagram(ec_master_t *, ec_datagram_t *);
void ec_master_queue_datagram_ext(ec_master_t *, ec_datagram_t *);

// misc.
void ec_master_set_send_interval(ec_master_t *, unsigned int);
void ec_master_attach_slave_configs(ec_master_t *);
ec_slave_t *ec_master_find_slave(ec_master_t *, uint16_t, uint16_t);
const ec_slave_t *ec_master_find_slave_const(const ec_master_t *, uint16_t,
        uint16_t);
void ec_master_output_stats(ec_master_t *);
#ifdef EC_EOE
void ec_master_clear_eoe_handlers(ec_master_t *);
#endif
void ec_master_clear_slaves(ec_master_t *);

unsigned int ec_master_config_count(const ec_master_t *);
ec_slave_config_t *ec_master_get_config(
        const ec_master_t *, unsigned int);
const ec_slave_config_t *ec_master_get_config_const(
        const ec_master_t *, unsigned int);
unsigned int ec_master_domain_count(const ec_master_t *);
ec_domain_t *ec_master_find_domain(ec_master_t *, unsigned int);
const ec_domain_t *ec_master_find_domain_const(const ec_master_t *,
        unsigned int);
#ifdef EC_EOE
uint16_t ec_master_eoe_handler_count(const ec_master_t *);
const ec_eoe_t *ec_master_get_eoe_handler_const(const ec_master_t *, uint16_t);
#endif

int ec_master_debug_level(ec_master_t *, unsigned int);

ec_domain_t *ecrt_master_create_domain_err(ec_master_t *);
ec_slave_config_t *ecrt_master_slave_config_err(ec_master_t *, uint16_t,
        uint16_t, uint32_t, uint32_t);

void ec_master_calc_dc(ec_master_t *);
void ec_master_request_op(ec_master_t *);

void ec_master_internal_send_cb(void *);
void ec_master_internal_receive_cb(void *);

extern const unsigned int rate_intervals[EC_RATE_COUNT]; // see master.c

/*****************************************************************************/

#endif