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/****************************************************************
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*
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* e c _ d e v i c e . c
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*
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* Methoden für ein EtherCAT-Gerät.
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*
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* $Date$
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* $Author$
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*
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***************************************************************/
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#include <linux/skbuff.h>
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#include <linux/if_ether.h>
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#include <linux/netdevice.h>
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#include <rtai.h>
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#include "ec_device.h"
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#include "ec_dbg.h"
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/***************************************************************/
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/**
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EtherCAT-Geräte-Konstuktor.
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Initialisiert ein EtherCAT-Gerät, indem es die Variablen
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in der Struktur auf die Default-Werte setzt.
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@param ecd Zu initialisierendes EtherCAT-Gerät
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*/
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void EtherCAT_device_init(EtherCAT_device_t *ecd)
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{
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ecd->dev = NULL;
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ecd->tx_skb = NULL;
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ecd->rx_skb = NULL;
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ecd->tx_time = 0;
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ecd->rx_time = 0;
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ecd->tx_intr_cnt = 0;
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ecd->rx_intr_cnt = 0;
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ecd->intr_cnt = 0;
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ecd->state = ECAT_DS_READY;
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ecd->rx_data_length = 0;
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ecd->lock = NULL;
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}
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/***************************************************************/
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/**
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EtherCAT-Geräte-Destuktor.
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Gibt den dynamisch allozierten Speicher des
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EtherCAT-Gerätes (die beiden Socket-Buffer) wieder frei.
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@param ecd EtherCAT-Gerät
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*/
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void EtherCAT_device_clear(EtherCAT_device_t *ecd)
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{
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ecd->dev = NULL;
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if (ecd->tx_skb)
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{
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dev_kfree_skb(ecd->tx_skb);
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ecd->tx_skb = NULL;
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}
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if (ecd->rx_skb)
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{
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dev_kfree_skb(ecd->rx_skb);
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ecd->rx_skb = NULL;
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}
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}
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/***************************************************************/
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/**
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Weist einem EtherCAT-Gerät das entsprechende net_device zu.
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Prüft das net_device, allokiert Socket-Buffer in Sende- und
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Empfangsrichtung und weist dem EtherCAT-Gerät und den
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Socket-Buffern das net_device zu.
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@param ecd EtherCAT-Device
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@param dev net_device
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@return 0: Erfolg, < 0: Konnte Socket-Buffer nicht allozieren.
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*/
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int EtherCAT_device_assign(EtherCAT_device_t *ecd,
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struct net_device *dev)
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{
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if (!dev)
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{
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EC_DBG("EtherCAT: Device is NULL!\n");
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return -1;
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}
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if ((ecd->tx_skb = dev_alloc_skb(ECAT_FRAME_BUFFER_SIZE)) == NULL)
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{
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EC_DBG(KERN_ERR "EtherCAT: Could not allocate device tx socket buffer!\n");
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return -1;
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}
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if ((ecd->rx_skb = dev_alloc_skb(ECAT_FRAME_BUFFER_SIZE)) == NULL)
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{
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dev_kfree_skb(ecd->tx_skb);
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ecd->tx_skb = NULL;
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EC_DBG(KERN_ERR "EtherCAT: Could not allocate device rx socket buffer!\n");
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return -1;
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}
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ecd->dev = dev;
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ecd->tx_skb->dev = dev;
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ecd->rx_skb->dev = dev;
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EC_DBG("EtherCAT: Assigned Device %X.\n", (unsigned) dev);
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return 0;
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}
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/***************************************************************/
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/**
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Führt die open()-Funktion des Netzwerktreibers aus.
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Dies entspricht einem "ifconfig up". Vorher wird der Zeiger
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auf das EtherCAT-Gerät auf Gültigkeit geprüft und der
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Gerätezustand zurückgesetzt.
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@param ecd EtherCAT-Gerät
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@return 0 bei Erfolg, < 0: Ungültiger Zeiger, oder open()
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fehlgeschlagen
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*/
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int EtherCAT_device_open(EtherCAT_device_t *ecd)
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{
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if (!ecd)
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{
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EC_DBG(KERN_ERR "EtherCAT: Trying to open a NULL device!\n");
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return -1;
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}
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if (!ecd->dev)
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{
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EC_DBG(KERN_ERR "EtherCAT: No device to open!\n");
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return -1;
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}
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// Reset old device state
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ecd->state = ECAT_DS_READY;
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ecd->tx_intr_cnt = 0;
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ecd->rx_intr_cnt = 0;
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return ecd->dev->open(ecd->dev);
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}
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/***************************************************************/
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/**
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Führt die stop()-Funktion des net_devices aus.
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@param ecd EtherCAT-Gerät
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@return 0 bei Erfolg, < 0: Kein Gerät zum Schliessen
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*/
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int EtherCAT_device_close(EtherCAT_device_t *ecd)
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{
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if (!ecd->dev)
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{
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EC_DBG("EtherCAT: No device to close!\n");
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return -1;
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}
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EC_DBG("EtherCAT: txcnt: %u, rxcnt: %u\n",
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(unsigned int) ecd->tx_intr_cnt,
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(unsigned int) ecd->rx_intr_cnt);
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EC_DBG("EtherCAT: Stopping device at 0x%X\n",
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(unsigned int) ecd->dev);
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return ecd->dev->stop(ecd->dev);
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}
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/***************************************************************/
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/**
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Sendet einen Rahmen über das EtherCAT-Gerät.
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Kopiert die zu sendenden Daten in den statischen Socket-
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Buffer, fügt den Ethernat-II-Header hinzu und ruft die
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start_xmit()-Funktion der Netzwerkkarte auf.
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@param ecd EtherCAT-Gerät
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@param data Zeiger auf die zu sendenden Daten
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@param length Länge der zu sendenden Daten
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@return 0 bei Erfolg, < 0: Vorheriger Rahmen noch
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nicht empfangen, oder kein Speicher mehr vorhanden
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*/
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int EtherCAT_device_send(EtherCAT_device_t *ecd,
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unsigned char *data,
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unsigned int length)
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{
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unsigned char *frame_data;
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struct ethhdr *eth;
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if (ecd->state == ECAT_DS_SENT)
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{
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EC_DBG(KERN_ERR "EtherCAT: Trying to send frame while last was not received!\n");
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return -1;
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}
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skb_trim(ecd->tx_skb, 0); // Clear transmit socket buffer
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skb_reserve(ecd->tx_skb, ETH_HLEN); // Reserve space for Ethernet-II header
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// Copy data to socket buffer
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frame_data = skb_put(ecd->tx_skb, length);
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memcpy(frame_data, data, length);
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// Add Ethernet-II-Header
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if ((eth = (struct ethhdr *) skb_push(ecd->tx_skb, ETH_HLEN)) == NULL)
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{
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EC_DBG(KERN_ERR "EtherCAT: device_send - Could not allocate Ethernet-II header!\n");
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return -1;
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}
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eth->h_proto = htons(0x88A4); // Protocol type
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memcpy(eth->h_source, ecd->dev->dev_addr, ecd->dev->addr_len); // Hardware address
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memset(eth->h_dest, 0xFF, ecd->dev->addr_len); // Broadcast address
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rdtscl(ecd->tx_time); // Get CPU cycles
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// Start sending of frame
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ecd->state = ECAT_DS_SENT;
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ecd->dev->hard_start_xmit(ecd->tx_skb, ecd->dev);
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return 0;
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}
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/***************************************************************/
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/**
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Holt einen empfangenen Rahmen von der Netzwerkkarte.
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Zuerst wird geprüft, ob überhaupt ein Rahmen empfangen
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wurde. Wenn ja, wird diesem mit Hilfe eines Spin-Locks
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in den angegebenen Speicherbereich kopiert.
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@param ecd EtherCAT-Gerät
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@param data Zeiger auf den Speicherbereich, in den die
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empfangenen Daten kopiert werden sollen
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@param size Größe des angegebenen Speicherbereichs
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@return Anzahl der kopierten Bytes bei Erfolg, sonst < 0
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*/
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int EtherCAT_device_receive(EtherCAT_device_t *ecd,
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unsigned char *data,
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unsigned int size)
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{
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int cnt;
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// unsigned long flags;
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if (ecd->state != ECAT_DS_RECEIVED)
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{
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EC_DBG(KERN_ERR "EtherCAT: receive - Nothing received!\n");
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return -1;
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}
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// flags = rt_spin_lock_irqsave(ecd->lock);
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cnt = min(ecd->rx_data_length, size);
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memcpy(data,ecd->rx_data, cnt);
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// rt_spin_unlock_irqrestore(ecd->lock, flags);
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return cnt;
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}
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/***************************************************************/
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/**
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Gibt alle Informationen über das Device-Objekt aus.
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@param ecd EtherCAT-Gerät
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*/
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void EtherCAT_device_debug(EtherCAT_device_t *ecd)
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{
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EC_DBG(KERN_DEBUG "---EtherCAT device information begin---\n");
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if (ecd)
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{
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EC_DBG(KERN_DEBUG "Assigned net_device: %X\n", (unsigned) ecd->dev);
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EC_DBG(KERN_DEBUG "Transmit socket buffer: %X\n", (unsigned) ecd->tx_skb);
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EC_DBG(KERN_DEBUG "Receive socket buffer: %X\n", (unsigned) ecd->rx_skb);
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EC_DBG(KERN_DEBUG "Time of last transmission: %u\n", (unsigned) ecd->tx_time);
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EC_DBG(KERN_DEBUG "Time of last receive: %u\n", (unsigned) ecd->rx_time);
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EC_DBG(KERN_DEBUG "Number of transmit interrupts: %u\n", (unsigned) ecd->tx_intr_cnt);
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EC_DBG(KERN_DEBUG "Number of receive interrupts: %u\n", (unsigned) ecd->rx_intr_cnt);
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EC_DBG(KERN_DEBUG "Total Number of interrupts: %u\n", (unsigned) ecd->intr_cnt);
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EC_DBG(KERN_DEBUG "Actual device state: %i\n", (int) ecd->state);
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EC_DBG(KERN_DEBUG "Receive buffer: %X\n", (unsigned) ecd->rx_data);
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EC_DBG(KERN_DEBUG "Receive buffer fill state: %u/%u\n",
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(unsigned) ecd->rx_data_length, ECAT_FRAME_BUFFER_SIZE);
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EC_DBG(KERN_DEBUG "Lock: %X\n", (unsigned) ecd->lock);
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}
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else
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{
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EC_DBG(KERN_DEBUG "Device is NULL!\n");
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}
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EC_DBG(KERN_DEBUG "---EtherCAT device information end---\n");
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}
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/***************************************************************/
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