1

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

     2

 *

     3

 *  $Id$

     4

 *

     5

 *  Copyright (C) 2006  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

    10

 *  and/or modify it under the terms of the GNU General Public License

    11

 *  as published by the Free Software Foundation; either version 2 of the

    12

 *  License, or (at your option) any later version.

    13

 *

    14

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

    15

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

    16

 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

    17

 *  GNU General Public License for more details.

    18

 *

    19

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

    20

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

    21

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

    22

 *

    23

 *  The right to use EtherCAT Technology is granted and comes free of

    24

 *  charge under condition of compatibility of product made by

    25

 *  Licensee. People intending to distribute/sell products based on the

    26

 *  code, have to sign an agreement to guarantee that products using

    27

 *  software based on IgH EtherCAT master stay compatible with the actual

    28

 *  EtherCAT specification (which are released themselves as an open

    29

 *  standard) as the (only) precondition to have the right to use EtherCAT

    30

 *  Technology, IP and trade marks.

    31

 *

    32

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

    33

    34

/** \file

    35

 * EtherCAT master driver module.

    36

 */

    37

    38

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

    39

    40

#include <linux/module.h>

    41

#include <linux/kernel.h>

    42

#include <linux/init.h>

    43

    44

#include "globals.h"

    45

#include "master.h"

    46

#include "device.h"

    47

#include "xmldev.h"

    48

    49

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

    50

    51

#define MAX_MASTERS 5 /**< Maximum number of masters. */

    52

    53

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

    54

    55

int __init ec_init_module(void);

    56

void __exit ec_cleanup_module(void);

    57

    58

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

    59

    60

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

    61

    62

struct kobject kobj; /**< kobject for master module. */

    63

    64

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

    65

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

    66

    67

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

    68

static struct semaphore master_sem; /**< Master semaphore. */

    69

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

    70

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

    71

    72

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

    73

    74

static dev_t device_number; /**< XML character device number. */

    75

ec_xmldev_t xmldev; /**< XML character device. */

    76

    77

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

    78

    79

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

    80

    81

/** \cond */

    82

    83

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

    84

MODULE_DESCRIPTION("EtherCAT master driver module");

    85

MODULE_LICENSE("GPL");

    86

MODULE_VERSION(EC_MASTER_VERSION);

    87

    88

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

    89

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

    90

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

    91

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

    92

    93

/** \endcond */

    94

    95

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

    96

    97

/** Module initialization.

    98

 *

    99

 * Initializes \a ec_master_count masters.

   100

 * \return 0 on success, else < 0

   101

 */

   102

int __init ec_init_module(void)

   103

{

   104

    int i, ret = 0;

   105

   106

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

   107

   108

    init_MUTEX(&master_sem);

   109

   110

    // init kobject and add it to the hierarchy

   111

    memset(&kobj, 0x00, sizeof(struct kobject));

   112

    kobject_init(&kobj); // no ktype

   113

   114

    if (kobject_set_name(&kobj, "ethercat")) {

   115

        EC_ERR("Failed to set module kobject name.\n");

   116

        ret = -ENOMEM;

   117

        goto out_put;

   118

    }

   119

   120

    if (kobject_add(&kobj)) {

   121

        EC_ERR("Failed to add module kobject.\n");

   122

        ret = -EEXIST;

   123

        goto out_put;

   124

    }

   125

   126

    if (alloc_chrdev_region(&device_number, 0, 1, "EtherCAT")) {

   127

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

   128

        ret = -EBUSY;

   129

        goto out_del;

   130

    }

   131

   132

    // zero MAC addresses

   133

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

   134

   135

    // process MAC parameters

   136

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

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        if (ec_mac_parse(macs[i][0], main_devices[i], 0)) {

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            ret = -EINVAL;

   139

            goto out_cdev;

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        }

   141

   142

        if (i < backup_count && ec_mac_parse(macs[i][1], backup_devices[i], 1)) {

   143

            ret = -EINVAL;

   144

            goto out_cdev;

   145

        }

   146

    }

   147

   148

    if (master_count) {

   149

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

   150

                        GFP_KERNEL))) {

   151

            EC_ERR("Failed to allocate memory for EtherCAT masters.\n");

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            ret = -ENOMEM;

   153

            goto out_cdev;

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        }

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    }

   156

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

   158

        if (ec_master_init(&masters[i], &kobj, i, macs[i][0], macs[i][1])) {

   159

            ret = -EIO;

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            goto out_free_masters;

   161

        }

   162

    }

   163

   164

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

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

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    return ret;

   167

   168

out_free_masters:

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    for (i--; i >= 0; i--) ec_master_clear(&masters[i]);

   170

    kfree(masters);

   171

out_cdev:

   172

    unregister_chrdev_region(device_number, 1);

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out_del:

   174

    kobject_del(&kobj);

   175

out_put:

   176

    kobject_put(&kobj);

   177

    return ret;

   178

}

   179

   180

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

   181

   182

/** Module cleanup.

   183

 *

   184

 * Clears all master instances.

   185

 */

   186

void __exit ec_cleanup_module(void)

   187

{

   188

    unsigned int i;

   189

   190

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

   191

        ec_master_clear(&masters[i]);

   192

    }

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    if (master_count)

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        kfree(masters);

   195

   196

    unregister_chrdev_region(device_number, 1);

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    kobject_del(&kobj);

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    kobject_put(&kobj);

   199

   200

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

   201

}

   202

   203

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

   204

 * MAC address functions

   205

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

   206

   207

/**

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

   209

 */

   210

int ec_mac_equal(const uint8_t *mac1, const uint8_t *mac2)

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{

   212

    unsigned int i;

   213

   214

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

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

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            return 0;

   217

   218

    return 1;

   219

}

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   221

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

   222

   223

/** Print a MAC address to a buffer.

   224

 *

   225

 * \return number of bytes written.

   226

 */

   227

ssize_t ec_mac_print(

   228

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

   229

        char *buffer /**< target buffer */

   230

        )

   231

{

   232

    off_t off = 0;

   233

    unsigned int i;

   234

   235

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

   236

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

   237

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

   238

    }

   239

   240

    return off;

   241

}

   242

   243

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

   244

   245

/**

   246

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

   247

 */

   248

int ec_mac_is_zero(const uint8_t *mac)

   249

{

   250

    unsigned int i;

   251

   252

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

   253

        if (mac[i])

   254

            return 0;

   255

   256

    return 1;

   257

}

   258

   259

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

   260

   261

/**

   262

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

   263

 */

   264

int ec_mac_is_broadcast(const uint8_t *mac)

   265

{

   266

    unsigned int i;

   267

   268

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

   269

        if (mac[i] != 0xff)

   270

            return 0;

   271

   272

    return 1;

   273

}

   274

   275

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

   276

   277

/** Parse a MAC address from a string.

   278

 *

   279

 * The MAC address must follow the regexp

   280

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

   281

 *

   282

 * \return 0 on success, else < 0

   283

 */

   284

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

   285

{

   286

    unsigned int i, value;

   287

    const char *orig = src;

   288

    char *rem;

   289

   290

    if (!strlen(src)) {

   291

        if (allow_empty){

   292

            return 0;

   293

        }

   294

        else {

   295

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

   296

            return -EINVAL;

   297

        }

   298

    }

   299

   300

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

   301

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

   302

        if (rem != src + 2

   303

                || value > 0xFF

   304

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

   305

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

   306

            return -EINVAL;

   307

        }

   308

        mac[i] = value;

   309

        if (i < ETH_ALEN - 1)

   310

            src = rem + 1; // skip colon

   311

    }

   312

   313

    return 0;

   314

}

   315

   316

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

   317

   318

/** Outputs frame contents for debugging purposes.

   319

 */

   320

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

   321

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

   322

                   )

   323

{

   324

    unsigned int i;

   325

   326

    EC_DBG("");

   327

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

   328

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

   329

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

   330

            printk("\n");

   331

            EC_DBG("");

   332

        }

   333

    }

   334

    printk("\n");

   335

}

   336

   337

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

   338

   339

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

   340

 */

   341

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

   342

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

   343

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

   344

                        )

   345

{

   346

    unsigned int i;

   347

   348

    EC_DBG("");

   349

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

   350

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

   351

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

   352

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

   353

            printk("\n");

   354

            EC_DBG("");

   355

        }

   356

    }

   357

    printk("\n");

   358

}

   359

   360

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

   361

   362

/** Prints slave states in clear text.

   363

 */

   364

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

   365

                       char *buffer /**< target buffer

   366

                                       (min. EC_STATE_STRING_SIZE bytes) */

   367

                       )

   368

{

   369

    off_t off = 0;

   370

    unsigned int first = 1;

   371

   372

    if (!states) {

   373

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

   374

        return off;

   375

    }

   376

   377

    if (states & EC_SLAVE_STATE_INIT) {

   378

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

   379

        first = 0;

   380

    }

   381

    if (states & EC_SLAVE_STATE_PREOP) {

   382

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

   383

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

   384

        first = 0;

   385

    }

   386

    if (states & EC_SLAVE_STATE_SAFEOP) {

   387

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

   388

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

   389

        first = 0;

   390

    }

   391

    if (states & EC_SLAVE_STATE_OP) {

   392

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

   393

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

   394

    }

   395

    if (states & EC_SLAVE_STATE_ACK_ERR) {

   396

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

   397

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

   398

    }

   399

   400

    return off;

   401

}

   402

   403

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

   404

 *  Device interface

   405

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

   406

   407

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

   408

 *

   409

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

   410

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

   411

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

   412

 * newly created EtherCAT device is written to the ecdev pointer, else the

   413

 * pointer is written to zero.

   414

 *

   415

 * \return 0 on success, else < 0

   416

 * \ingroup DeviceInterface

   417

 */

   418

int ecdev_offer(struct net_device *net_dev, /**< net_device to offer */

   419

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

   420

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

   421

        ec_device_t **ecdev /**< pointer to store a device on success */

   422

        )

   423

{

   424

    ec_master_t *master;

   425

    char str[20];

   426

    unsigned int i;

   427

   428

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

   429

        master = &masters[i];

   430

   431

        down(&master->device_sem);

   432

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

   433

            up(&master->device_sem);

   434

            continue;

   435

        }

   436

   437

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

   438

                || ec_mac_is_broadcast(master->main_mac)) {

   439

            ec_mac_print(net_dev->dev_addr, str);

   440

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

   441

                    str, master->index);

   442

   443

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

   444

            up(&master->device_sem);

   445

   446

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

   447

            *ecdev = &master->main_device; // offer accepted

   448

            return 0; // no error

   449

        }

   450

        else {

   451

            up(&master->device_sem);

   452

   453

            if (master->debug_level) {

   454

                ec_mac_print(net_dev->dev_addr, str);

   455

                EC_DBG("Master %u declined device %s.\n", master->index, str);

   456

            }

   457

        }

   458

    }

   459

   460

    *ecdev = NULL; // offer declined

   461

    return 0; // no error

   462

}

   463

   464

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

   465

   466

/** Withdraws an EtherCAT device from the master.

   467

 *

   468

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

   469

 * are freed.

   470

 *

   471

 * \attention Before calling this function, the ecdev_stop() function has

   472

 *            to be called, to be sure that the master does not use the device

   473

 *            any more.

   474

 * \ingroup DeviceInterface

   475

 */

   476

void ecdev_withdraw(ec_device_t *device /**< EtherCAT device */)

   477

{

   478

    ec_master_t *master = device->master;

   479

    char str[20];

   480

   481

    ec_mac_print(device->dev->dev_addr, str);

   482

    EC_INFO("Master %u releasing main device %s.\n", master->index, str);

   483

   484

    down(&master->device_sem);

   485

    ec_device_detach(device);

   486

    up(&master->device_sem);

   487

}

   488