1

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

     2

 *

     3

 *  $Id$

     4

 *

     5

 *  Copyright (C) 2006-2008  Florian Pose, Ingenieurgemeinschaft IgH

     6

 *

     7

 *  This file is part of the IgH EtherCAT Master.

     8

 *

     9

 *  The IgH EtherCAT Master is free software; you can redistribute it and/or

    10

 *  modify it under the terms of the GNU General Public License version 2, as

    11

 *  published by the Free Software Foundation.

    12

 *

    13

 *  The IgH EtherCAT Master is distributed in the hope that it will be useful,

    14

 *  but WITHOUT ANY WARRANTY; without even the implied warranty of

    15

 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General

    16

 *  Public License for more details.

    17

 *

    18

 *  You should have received a copy of the GNU General Public License along

    19

 *  with the IgH EtherCAT Master; if not, write to the Free Software

    20

 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA

    21

 *

    22

 *  ---

    23

 *

    24

 *  The license mentioned above concerns the source code only. Using the

    25

 *  EtherCAT technology and brand is only permitted in compliance with the

    26

 *  industrial property and similar rights of Beckhoff Automation GmbH.

    27

 *

    28

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

    29

    30

/** \file

    31

 * EtherCAT master driver module.

    32

 */

    33

    34

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

    35

    36

#include <linux/module.h>

    37

#include <linux/device.h>

    38

#include <linux/err.h>

    39

    40

#include "globals.h"

    41

#include "master.h"

    42

#include "device.h"

    43

    44

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

    45

    46

#define MAX_MASTERS 32 /**< Maximum number of masters. */

    47

    48

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

    49

    50

int __init ec_init_module(void);

    51

void __exit ec_cleanup_module(void);

    52

    53

static int ec_mac_parse(uint8_t *, const char *, int);

    54

    55

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

    56

    57

static char *main_devices[MAX_MASTERS]; /**< Main devices parameter. */

    58

static unsigned int master_count; /**< Number of masters. */

    59

static char *backup_devices[MAX_MASTERS]; /**< Backup devices parameter. */

    60

static unsigned int backup_count; /**< Number of backup devices. */

    61

static unsigned int debug_level;  /**< Debug level parameter. */

    62

    63

static ec_master_t *masters; /**< Array of masters. */

    64

static struct ec_mutex_t master_mutex; /**< Master mutex. */

    65

    66

dev_t device_number; /**< Device number for master cdevs. */

    67

struct class *class; /**< Device class. */

    68

    69

static uint8_t macs[MAX_MASTERS][2][ETH_ALEN]; /**< MAC addresses. */

    70

    71

char *ec_master_version_str = EC_MASTER_VERSION; /**< Version string. */

    72

    73

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

    74

    75

/** \cond */

    76

    77

MODULE_AUTHOR("Florian Pose <fp@igh-essen.com>");

    78

MODULE_DESCRIPTION("EtherCAT master driver module");

    79

MODULE_LICENSE("GPL");

    80

MODULE_VERSION(EC_MASTER_VERSION);

    81

    82

module_param_array(main_devices, charp, &master_count, S_IRUGO);

    83

MODULE_PARM_DESC(main_devices, "MAC addresses of main devices");

    84

module_param_array(backup_devices, charp, &backup_count, S_IRUGO);

    85

MODULE_PARM_DESC(backup_devices, "MAC addresses of backup devices");

    86

module_param_named(debug_level, debug_level, uint, S_IRUGO);

    87

MODULE_PARM_DESC(debug_level, "Debug level");

    88

    89

/** \endcond */

    90

    91

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

    92

    93

/** Module initialization.

    94

 *

    95

 * Initializes \a master_count masters.

    96

 * \return 0 on success, else < 0

    97

 */

    98

int __init ec_init_module(void)

    99

{

   100

    int i, ret = 0;

   101

   102

    EC_INFO("Master driver %s\n", EC_MASTER_VERSION);

   103

   104

    ec_mutex_init(&master_mutex);

   105

   106

    if (master_count) {

   107

        if (alloc_chrdev_region(&device_number,

   108

                    0, master_count, "EtherCAT")) {

   109

            EC_ERR("Failed to obtain device number(s)!\n");

   110

            ret = -EBUSY;

   111

            goto out_return;

   112

        }

   113

    }

   114

   115

    class = class_create(THIS_MODULE, "EtherCAT");

   116

    if (IS_ERR(class)) {

   117

        EC_ERR("Failed to create device class.\n");

   118

        ret = PTR_ERR(class);

   119

        goto out_cdev;

   120

    }

   121

   122

    // zero MAC addresses

   123

    memset(macs, 0x00, sizeof(uint8_t) * MAX_MASTERS * 2 * ETH_ALEN);

   124

   125

    // process MAC parameters

   126

    for (i = 0; i < master_count; i++) {

   127

        ret = ec_mac_parse(macs[i][0], main_devices[i], 0);

   128

        if (ret)

   129

            goto out_class;

   130

   131

        if (i < backup_count) {

   132

            ret = ec_mac_parse(macs[i][1], backup_devices[i], 1);

   133

            if (ret)

   134

                goto out_class;

   135

        }

   136

    }

   137

   138

    // initialize static master variables

   139

    ec_master_init_static();

   140

   141

    if (master_count) {

   142

        if (!(masters = kmalloc(sizeof(ec_master_t) * master_count,

   143

                        GFP_KERNEL))) {

   144

            EC_ERR("Failed to allocate memory"

   145

                    " for EtherCAT masters.\n");

   146

            ret = -ENOMEM;

   147

            goto out_class;

   148

        }

   149

    }

   150

   151

    for (i = 0; i < master_count; i++) {

   152

        ret = ec_master_init(&masters[i], i, macs[i][0], macs[i][1],

   153

                    device_number, class, debug_level);

   154

        if (ret)

   155

            goto out_free_masters;

   156

    }

   157

   158

    EC_INFO("%u master%s waiting for devices.\n",

   159

            master_count, (master_count == 1 ? "" : "s"));

   160

    return ret;

   161

   162

out_free_masters:

   163

    for (i--; i >= 0; i--)

   164

        ec_master_clear(&masters[i]);

   165

    kfree(masters);

   166

out_class:

   167

    class_destroy(class);

   168

out_cdev:

   169

    if (master_count)

   170

        unregister_chrdev_region(device_number, master_count);

   171

out_return:

   172

    return ret;

   173

}

   174

   175

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

   176

   177

/** Module cleanup.

   178

 *

   179

 * Clears all master instances.

   180

 */

   181

void __exit ec_cleanup_module(void)

   182

{

   183

    unsigned int i;

   184

   185

    for (i = 0; i < master_count; i++) {

   186

        ec_master_clear(&masters[i]);

   187

    }

   188

   189

    if (master_count)

   190

        kfree(masters);

   191

   192

    class_destroy(class);

   193

   194

    if (master_count)

   195

        unregister_chrdev_region(device_number, master_count);

   196

   197

    EC_INFO("Master module cleaned up.\n");

   198

}

   199

   200

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

   201

   202

/** Get the number of masters.

   203

 */

   204

unsigned int ec_master_count(void)

   205

{

   206

    return master_count;

   207

}

   208

   209

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

   210

 * MAC address functions

   211

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

   212

   213

/**

   214

 * \return true, if two MAC addresses are equal.

   215

 */

   216

int ec_mac_equal(

   217

        const uint8_t *mac1, /**< First MAC address. */

   218

        const uint8_t *mac2 /**< Second MAC address. */

   219

        )

   220

{

   221

    unsigned int i;

   222

   223

    for (i = 0; i < ETH_ALEN; i++)

   224

        if (mac1[i] != mac2[i])

   225

            return 0;

   226

   227

    return 1;

   228

}

   229

   230

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

   231

   232

/** Print a MAC address to a buffer.

   233

 *

   234

 * \return number of bytes written.

   235

 */

   236

ssize_t ec_mac_print(

   237

        const uint8_t *mac, /**< MAC address */

   238

        char *buffer /**< target buffer */

   239

        )

   240

{

   241

    off_t off = 0;

   242

    unsigned int i;

   243

   244

    for (i = 0; i < ETH_ALEN; i++) {

   245

        off += sprintf(buffer + off, "%02X", mac[i]);

   246

        if (i < ETH_ALEN - 1) off += sprintf(buffer + off, ":");

   247

    }

   248

   249

    return off;

   250

}

   251

   252

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

   253

   254

/**

   255

 * \return true, if the MAC address is all-zero.

   256

 */

   257

int ec_mac_is_zero(

   258

        const uint8_t *mac /**< MAC address. */

   259

        )

   260

{

   261

    unsigned int i;

   262

   263

    for (i = 0; i < ETH_ALEN; i++)

   264

        if (mac[i])

   265

            return 0;

   266

   267

    return 1;

   268

}

   269

   270

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

   271

   272

/**

   273

 * \return true, if the given MAC address is the broadcast address.

   274

 */

   275

int ec_mac_is_broadcast(

   276

        const uint8_t *mac /**< MAC address. */

   277

        )

   278

{

   279

    unsigned int i;

   280

   281

    for (i = 0; i < ETH_ALEN; i++)

   282

        if (mac[i] != 0xff)

   283

            return 0;

   284

   285

    return 1;

   286

}

   287

   288

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

   289

   290

/** Parse a MAC address from a string.

   291

 *

   292

 * The MAC address must follow the regexp

   293

 * "([0-9a-fA-F]{2}:){5}[0-9a-fA-F]{2}".

   294

 *

   295

 * \return 0 on success, else < 0

   296

 */

   297

static int ec_mac_parse(uint8_t *mac, const char *src, int allow_empty)

   298

{

   299

    unsigned int i, value;

   300

    const char *orig = src;

   301

    char *rem;

   302

   303

    if (!strlen(src)) {

   304

        if (allow_empty){

   305

            return 0;

   306

        }

   307

        else {

   308

            EC_ERR("MAC address may not be empty.\n");

   309

            return -EINVAL;

   310

        }

   311

    }

   312

   313

    for (i = 0; i < ETH_ALEN; i++) {

   314

        value = simple_strtoul(src, &rem, 16);

   315

        if (rem != src + 2

   316

                || value > 0xFF

   317

                || (i < ETH_ALEN - 1 && *rem != ':')) {

   318

            EC_ERR("Invalid MAC address \"%s\".\n", orig);

   319

            return -EINVAL;

   320

        }

   321

        mac[i] = value;

   322

        if (i < ETH_ALEN - 1)

   323

            src = rem + 1; // skip colon

   324

    }

   325

   326

    return 0;

   327

}

   328

   329

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

   330

   331

/** Outputs frame contents for debugging purposes.

   332

 * If the data block is larger than 256 bytes, only the first 128

   333

 * and the last 128 bytes will be shown

   334

 */

   335

void ec_print_data(const uint8_t *data, /**< pointer to data */

   336

                   size_t size /**< number of bytes to output */

   337

                   )

   338

{

   339

    unsigned int i;

   340

   341

    EC_DBG("");

   342

    for (i = 0; i < size; i++) {

   343

        printk("%02X ", data[i]);

   344

   345

        if ((i + 1) % 16 == 0 && i < size - 1) {

   346

            printk("\n");

   347

            EC_DBG("");

   348

        }

   349

   350

        if (i + 1 == 128 && size > 256) {

   351

            printk("dropped %zu bytes\n", size - 128 - i);

   352

            i = size - 128;

   353

            EC_DBG("");

   354

        }

   355

    }

   356

    printk("\n");

   357

}

   358

   359

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

   360

   361

/** Outputs frame contents and differences for debugging purposes.

   362

 */

   363

void ec_print_data_diff(const uint8_t *d1, /**< first data */

   364

                        const uint8_t *d2, /**< second data */

   365

                        size_t size /** number of bytes to output */

   366

                        )

   367

{

   368

    unsigned int i;

   369

   370

    EC_DBG("");

   371

    for (i = 0; i < size; i++) {

   372

        if (d1[i] == d2[i]) printk(".. ");

   373

        else printk("%02X ", d2[i]);

   374

        if ((i + 1) % 16 == 0) {

   375

            printk("\n");

   376

            EC_DBG("");

   377

        }

   378

    }

   379

    printk("\n");

   380

}

   381

   382

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

   383

   384

/** Prints slave states in clear text.

   385

 */

   386

size_t ec_state_string(uint8_t states, /**< slave states */

   387

                       char *buffer, /**< target buffer

   388

                                       (min. EC_STATE_STRING_SIZE bytes) */

   389

                       uint8_t multi /**< Show multi-state mask. */

   390

                       )

   391

{

   392

    off_t off = 0;

   393

    unsigned int first = 1;

   394

   395

    if (!states) {

   396

        off += sprintf(buffer + off, "(unknown)");

   397

        return off;

   398

    }

   399

   400

    if (multi) { // multiple slaves

   401

        if (states & EC_SLAVE_STATE_INIT) {

   402

            off += sprintf(buffer + off, "INIT");

   403

            first = 0;

   404

        }

   405

        if (states & EC_SLAVE_STATE_PREOP) {

   406

            if (!first) off += sprintf(buffer + off, ", ");

   407

            off += sprintf(buffer + off, "PREOP");

   408

            first = 0;

   409

        }

   410

        if (states & EC_SLAVE_STATE_SAFEOP) {

   411

            if (!first) off += sprintf(buffer + off, ", ");

   412

            off += sprintf(buffer + off, "SAFEOP");

   413

            first = 0;

   414

        }

   415

        if (states & EC_SLAVE_STATE_OP) {

   416

            if (!first) off += sprintf(buffer + off, ", ");

   417

            off += sprintf(buffer + off, "OP");

   418

        }

   419

    } else { // single slave

   420

        if ((states & EC_SLAVE_STATE_MASK) == EC_SLAVE_STATE_INIT) {

   421

            off += sprintf(buffer + off, "INIT");

   422

        } else if ((states & EC_SLAVE_STATE_MASK) == EC_SLAVE_STATE_PREOP) {

   423

            off += sprintf(buffer + off, "PREOP");

   424

        } else if ((states & EC_SLAVE_STATE_MASK) == EC_SLAVE_STATE_BOOT) {

   425

            off += sprintf(buffer + off, "BOOT");

   426

        } else if ((states & EC_SLAVE_STATE_MASK) == EC_SLAVE_STATE_SAFEOP) {

   427

            off += sprintf(buffer + off, "SAFEOP");

   428

        } else if ((states & EC_SLAVE_STATE_MASK) == EC_SLAVE_STATE_OP) {

   429

            off += sprintf(buffer + off, "OP");

   430

        } else {

   431

            off += sprintf(buffer + off, "(invalid)");

   432

        }

   433

        first = 0;

   434

    }

   435

   436

    if (states & EC_SLAVE_STATE_ACK_ERR) {

   437

        if (!first) off += sprintf(buffer + off, " + ");

   438

        off += sprintf(buffer + off, "ERROR");

   439

    }

   440

   441

    return off;

   442

}

   443

   444

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

   445

 *  Device interface

   446

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

   447

   448

/** Offers an EtherCAT device to a certain master.

   449

 *

   450

 * The master decides, if it wants to use the device for EtherCAT operation,

   451

 * or not. It is important, that the offered net_device is not used by the

   452

 * kernel IP stack. If the master, accepted the offer, the address of the

   453

 * newly created EtherCAT device is returned, else \a NULL is returned.

   454

 *

   455

 * \return Pointer to device, if accepted, or NULL if declined.

   456

 * \ingroup DeviceInterface

   457

 */

   458

ec_device_t *ecdev_offer(

   459

        struct net_device *net_dev, /**< net_device to offer */

   460

        ec_pollfunc_t poll, /**< device poll function */

   461

        struct module *module /**< pointer to the module */

   462

        )

   463

{

   464

    ec_master_t *master;

   465

    char str[20];

   466

    unsigned int i;

   467

   468

    for (i = 0; i < master_count; i++) {

   469

        master = &masters[i];

   470

   471

        ec_mutex_lock(&master->device_mutex);

   472

        if (master->main_device.dev) { // master already has a device

   473

            ec_mutex_unlock(&master->device_mutex);

   474

            continue;

   475

        }

   476

   477

        if (ec_mac_equal(master->main_mac, net_dev->dev_addr)

   478

                || ec_mac_is_broadcast(master->main_mac)) {

   479

            ec_mac_print(net_dev->dev_addr, str);

   480

            EC_INFO("Accepting device %s for master %u.\n",

   481

                    str, master->index);

   482

   483

            ec_device_attach(&master->main_device, net_dev, poll, module);

   484

            ec_mutex_unlock(&master->device_mutex);

   485

   486

            snprintf(net_dev->name, IFNAMSIZ, "ec%u", master->index);