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

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

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 *  published by the Free Software Foundation.

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 *

    13

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

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

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

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 *  Public License for more details.

    17

 *

    18

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

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

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

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 *

    22

 *  ---

    23

 *

    24

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

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

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 *  industrial property and similar rights of Beckhoff Automation GmbH.

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 *

    28

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

    29

    30

/**

    31

   \file

    32

   EtherCAT device methods.

    33

*/

    34

    35

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

    36

    37

#include <linux/module.h>

    38

#include <linux/skbuff.h>

    39

#include <linux/if_ether.h>

    40

#include <linux/netdevice.h>

    41

    42

#include "device.h"

    43

#include "master.h"

    44

    45

#ifdef EC_DEBUG_RING

    46

#define timersub(a, b, result) \

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    do { \

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        (result)->tv_sec = (a)->tv_sec - (b)->tv_sec; \

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        (result)->tv_usec = (a)->tv_usec - (b)->tv_usec; \

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        if ((result)->tv_usec < 0) { \

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            --(result)->tv_sec; \

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            (result)->tv_usec += 1000000; \

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        } \

    54

    } while (0)

    55

#endif

    56

    57

static const unsigned int rate_intervals[] = {

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    1, 10, 60

    59

};

    60

    61

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

    62

    63

/** Constructor.

    64

 * 

    65

 * \return 0 in case of success, else < 0

    66

 */

    67

int ec_device_init(

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        ec_device_t *device, /**< EtherCAT device */

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        ec_master_t *master /**< master owning the device */

    70

        )

    71

{

    72

    int ret;

    73

    unsigned int i;

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    struct ethhdr *eth;

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#ifdef EC_DEBUG_IF

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    char ifname[10];

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    char mb = 'x';

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#endif

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#ifdef EC_DEBUG_RING

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    device->debug_frame_index = 0;

    81

    device->debug_frame_count = 0;

    82

#endif

    83

    84

    device->master = master;

    85

    device->tx_ring_index = 0;

    86

    87

#ifdef EC_DEBUG_IF

    88

    if (device == &master->main_device)

    89

        mb = 'm';

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    else if (device == &master->backup_device)

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        mb = 'b';

    92

    93

    sprintf(ifname, "ecdbg%c%u", mb, master->index);

    94

    95

    ret = ec_debug_init(&device->dbg, ifname);

    96

    if (ret < 0) {

    97

        EC_ERR("Failed to init debug device!\n");

    98

        goto out_return;

    99

    }

   100

#endif

   101

   102

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

   103

        device->tx_skb[i] = NULL;

   104

   105

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

   106

        if (!(device->tx_skb[i] = dev_alloc_skb(ETH_FRAME_LEN))) {

   107

            EC_ERR("Error allocating device socket buffer!\n");

   108

            ret = -ENOMEM;

   109

            goto out_tx_ring;

   110

        }

   111

   112

        // add Ethernet-II-header

   113

        skb_reserve(device->tx_skb[i], ETH_HLEN);

   114

        eth = (struct ethhdr *) skb_push(device->tx_skb[i], ETH_HLEN);

   115

        eth->h_proto = htons(0x88A4);

   116

        memset(eth->h_dest, 0xFF, ETH_ALEN);

   117

    }

   118

   119

    ec_device_detach(device); // resets remaining fields

   120

    return 0;

   121

   122

out_tx_ring:

   123

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

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        if (device->tx_skb[i])

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            dev_kfree_skb(device->tx_skb[i]);

   126

#ifdef EC_DEBUG_IF

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    ec_debug_clear(&device->dbg);

   128

out_return:

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#endif

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    return ret;

   131

}

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   133

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

   134

   135

/** Destructor.

   136

 */

   137

void ec_device_clear(

   138

        ec_device_t *device /**< EtherCAT device */

   139

        )

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{

   141

    unsigned int i;

   142

   143

    if (device->open) ec_device_close(device);

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

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        dev_kfree_skb(device->tx_skb[i]);

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#ifdef EC_DEBUG_IF

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    ec_debug_clear(&device->dbg);

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#endif

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}

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   151

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

   152

   153

/** Associate with net_device.

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 */

   155

void ec_device_attach(

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        ec_device_t *device, /**< EtherCAT device */

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        struct net_device *net_dev, /**< net_device structure */

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        ec_pollfunc_t poll, /**< pointer to device's poll function */

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        struct module *module /**< the device's module */

   160

        )

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{

   162

    unsigned int i;

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    struct ethhdr *eth;

   164

   165

    ec_device_detach(device); // resets fields

   166

   167

    device->dev = net_dev;

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    device->poll = poll;

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    device->module = module;

   170

   171

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

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        device->tx_skb[i]->dev = net_dev;

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        eth = (struct ethhdr *) (device->tx_skb[i]->data);

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        memcpy(eth->h_source, net_dev->dev_addr, ETH_ALEN);

   175

    }

   176

   177

#ifdef EC_DEBUG_IF

   178

    ec_debug_register(&device->dbg, net_dev);

   179

#endif

   180

}

   181

   182

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

   183

   184

/** Disconnect from net_device.

   185

 */

   186

void ec_device_detach(

   187

        ec_device_t *device /**< EtherCAT device */

   188

        )

   189

{

   190

    unsigned int i;

   191

   192

#ifdef EC_DEBUG_IF

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    ec_debug_unregister(&device->dbg);

   194

#endif

   195

   196

    device->dev = NULL;

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    device->poll = NULL;

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    device->module = NULL;

   199

    device->open = 0;

   200

    device->link_state = 0; // down

   201

   202

    ec_device_clear_stats(device);

   203

   204

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

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        device->tx_skb[i]->dev = NULL;

   206

}

   207

   208

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

   209

   210

/** Opens the EtherCAT device.

   211

 *

   212

 * \return 0 in case of success, else < 0

   213

 */

   214

int ec_device_open(

   215

        ec_device_t *device /**< EtherCAT device */

   216

        )

   217

{

   218

    int ret;

   219

   220

    if (!device->dev) {

   221

        EC_ERR("No net_device to open!\n");

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        return -ENODEV;

   223

    }

   224

   225

    if (device->open) {

   226

        EC_WARN("Device already opened!\n");

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        return 0;

   228

    }

   229

   230

    device->link_state = 0;

   231

   232

    ec_device_clear_stats(device);

   233

   234

#if LINUX_VERSION_CODE >= KERNEL_VERSION(2, 6, 29)

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    ret = device->dev->netdev_ops->ndo_open(device->dev);

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#else

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    ret = device->dev->open(device->dev);

   238

#endif

   239

    if (!ret)

   240

        device->open = 1;

   241

   242

    return ret;

   243

}

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   245

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

   246

   247

/** Stops the EtherCAT device.

   248

 *

   249

 * \return 0 in case of success, else < 0

   250

 */

   251

int ec_device_close(

   252

        ec_device_t *device /**< EtherCAT device */

   253

        )

   254

{

   255

    int ret;

   256

   257

    if (!device->dev) {

   258

        EC_ERR("No device to close!\n");

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        return -ENODEV;

   260

    }

   261

   262

    if (!device->open) {

   263

        EC_WARN("Device already closed!\n");

   264

        return 0;

   265

    }

   266

   267

#if LINUX_VERSION_CODE >= KERNEL_VERSION(2, 6, 29)

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    ret = device->dev->netdev_ops->ndo_stop(device->dev);

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#else

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    ret = device->dev->stop(device->dev);

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#endif

   272

    if (!ret)

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        device->open = 0;

   274

   275

    return ret;

   276

}

   277

   278

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

   279

   280

/** Returns a pointer to the device's transmit memory.

   281

 *

   282

 * \return pointer to the TX socket buffer

   283

 */

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uint8_t *ec_device_tx_data(

   285

        ec_device_t *device /**< EtherCAT device */

   286

        )

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{

   288

    /* cycle through socket buffers, because otherwise there is a race

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     * condition, if multiple frames are sent and the DMA is not scheduled in

   290

     * between. */

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    device->tx_ring_index++;

   292

    device->tx_ring_index %= EC_TX_RING_SIZE;

   293

    return device->tx_skb[device->tx_ring_index]->data + ETH_HLEN;

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}

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   296

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

   297

   298

/** Sends the content of the transmit socket buffer.

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 *

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 * Cuts the socket buffer content to the (now known) size, and calls the

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 * start_xmit() function of the assigned net_device.

   302

 */

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void ec_device_send(

   304

        ec_device_t *device, /**< EtherCAT device */

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

   306

        )

   307

{

   308

    struct sk_buff *skb = device->tx_skb[device->tx_ring_index];

   309

   310

    // frame statistics

   311

    if (unlikely(jiffies - device->stats_jiffies >= HZ)) {

   312

        unsigned int i;

   313

        u32 tx_frame_rate =

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            (u32) (device->tx_count - device->last_tx_count) * 1000;

   315

        u32 tx_byte_rate =

   316

            (device->tx_bytes - device->last_tx_bytes) * 1000;

   317

        u64 loss = device->tx_count - device->rx_count;

   318

        s32 loss_rate = (s32) (loss - device->last_loss) * 1000;

   319

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

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            unsigned int n = rate_intervals[i];

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            device->tx_frame_rates[i] =

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                (device->tx_frame_rates[i] * (n - 1) + tx_frame_rate) / n;

   323

            device->tx_byte_rates[i] =

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                (device->tx_byte_rates[i] * (n - 1) + tx_byte_rate) / n;

   325

            device->loss_rates[i] =

   326

                (device->loss_rates[i] * (n - 1) + loss_rate) / n;

   327

        }

   328

        device->last_tx_count = device->tx_count;

   329

        device->last_tx_bytes = device->tx_bytes;

   330

        device->last_loss = loss;

   331

        device->stats_jiffies = jiffies;

   332

    }

   333

   334

    // set the right length for the data

   335

    skb->len = ETH_HLEN + size;

   336

   337

    if (unlikely(device->master->debug_level > 1)) {

   338

        EC_DBG("Sending frame:\n");

   339

        ec_print_data(skb->data, ETH_HLEN + size);

   340

    }

   341

   342

    // start sending

   343

#if LINUX_VERSION_CODE >= KERNEL_VERSION(2, 6, 29)

   344

    if (device->dev->netdev_ops->ndo_start_xmit(skb, device->dev) ==

   345

            NETDEV_TX_OK)

   346

#else

   347

    if (device->dev->hard_start_xmit(skb, device->dev) == NETDEV_TX_OK)

   348

#endif

   349

    {

   350

        device->tx_count++;

   351

        device->tx_bytes += ETH_HLEN + size;

   352

#ifdef EC_DEBUG_IF

   353

        ec_debug_send(&device->dbg, skb->data, ETH_HLEN + size);

   354

#endif

   355

#ifdef EC_DEBUG_RING

   356

        ec_device_debug_ring_append(

   357

                device, TX, skb->data + ETH_HLEN, size);

   358

#endif

   359

    } else {

   360

        device->tx_errors++;

   361

    }

   362

}

   363

   364

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

   365

   366

/** Clears the frame statistics.

   367

 */

   368

void ec_device_clear_stats(

   369

        ec_device_t *device /**< EtherCAT device */

   370

        )

   371

{

   372

    unsigned int i;

   373

   374

    // zero frame statistics

   375

    device->tx_count = 0;

   376

    device->rx_count = 0;

   377

    device->tx_errors = 0;

   378

    device->tx_bytes = 0;

   379

    device->last_tx_count = 0;

   380

    device->last_tx_bytes = 0;

   381

    device->last_loss = 0;

   382

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

   383

        device->tx_frame_rates[i] = 0;

   384

        device->tx_byte_rates[i] = 0;

   385

        device->loss_rates[i] = 0;

   386

    }

   387

}

   388

   389

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

   390

   391

#ifdef EC_DEBUG_RING

   392

/** Appends frame data to the debug ring.

   393

 */

   394

void ec_device_debug_ring_append(

   395

        ec_device_t *device, /**< EtherCAT device */

   396

        ec_debug_frame_dir_t dir, /**< direction */

   397

        const void *data, /**< frame data */

   398

        size_t size /**< data size */

   399

        )

   400

{

   401

    ec_debug_frame_t *df = &device->debug_frames[device->debug_frame_index];

   402

   403

    df->dir = dir;

   404

    if (dir == TX)

   405

        do_gettimeofday(&df->t);

   406

    else

   407

        df->t = device->timeval_poll;

   408

    memcpy(df->data, data, size);

   409

    df->data_size = size;

   410

   411

    device->debug_frame_index++;

   412

    device->debug_frame_index %= EC_DEBUG_RING_SIZE;

   413

    if (unlikely(device->debug_frame_count < EC_DEBUG_RING_SIZE))

   414

        device->debug_frame_count++;

   415

}

   416

   417

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

   418

   419

/** Outputs the debug ring.

   420

 */

   421

void ec_device_debug_ring_print(

   422

        const ec_device_t *device /**< EtherCAT device */

   423

        )

   424

{

   425

    int i;

   426

    unsigned int ring_index;

   427

    const ec_debug_frame_t *df;

   428

    struct timeval t0, diff;

   429

   430

    // calculate index of the newest frame in the ring to get its time

   431

    ring_index = (device->debug_frame_index + EC_DEBUG_RING_SIZE - 1)

   432

        % EC_DEBUG_RING_SIZE;

   433

    t0 = device->debug_frames[ring_index].t;

   434

   435

    EC_DBG("Debug ring %u:\n", ring_index);

   436

   437

    // calculate index of the oldest frame in the ring

   438

    ring_index = (device->debug_frame_index + EC_DEBUG_RING_SIZE

   439

            - device->debug_frame_count) % EC_DEBUG_RING_SIZE;

   440

   441

    for (i = 0; i < device->debug_frame_count; i++) {

   442

        df = &device->debug_frames[ring_index];

   443

        timersub(&t0, &df->t, &diff);

   444

   445

        EC_DBG("Frame %u, dt=%u.%06u s, %s:\n",

   446

                i + 1 - device->debug_frame_count,

   447

                (unsigned int) diff.tv_sec,

   448

                (unsigned int) diff.tv_usec,

   449

                (df->dir == TX) ? "TX" : "RX");

   450

        ec_print_data(df->data, df->data_size);

   451

   452

        ring_index++;

   453

        ring_index %= EC_DEBUG_RING_SIZE;

   454

    }

   455

}

   456

#endif

   457

   458

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

   459

   460

/** Calls the poll function of the assigned net_device.

   461

 *

   462

 * The master itself works without using interrupts. Therefore the processing

   463

 * of received data and status changes of the network device has to be

   464

 * done by the master calling the ISR "manually".

   465

 */

   466

void ec_device_poll(

   467

        ec_device_t *device /**< EtherCAT device */

   468

        )

   469

{

   470

#ifdef EC_HAVE_CYCLES

   471

    device->cycles_poll = get_cycles();

   472

#endif

   473

    device->jiffies_poll = jiffies;

   474

#ifdef EC_DEBUG_RING

   475

    do_gettimeofday(&device->timeval_poll);

   476

#endif

   477

    device->poll(device->dev);

   478

}

   479

   480

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

   481

 *  Device interface

   482

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

   483

   484

/** Withdraws an EtherCAT device from the master.

   485

 *

   486

 * The device is disconnected from the master and all device ressources