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

     2

 *

     3

 *  $Id$

     4

 *

     5

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

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 *

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 *  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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 *

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 *  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.

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 *

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 *  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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 *

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

    29

    30

/**

    31

   \file

    32

   EtherCAT device methods.

    33

*/

    34

    35

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

    36

    37

#include <linux/module.h>

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#include <linux/skbuff.h>

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#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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        } \

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    } while (0)

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#endif

    56

    57

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

    58

    59

/** Constructor.

    60

 * 

    61

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

    62

 */

    63

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 */

    66

        )

    67

{

    68

    int ret;

    69

    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;

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    device->debug_frame_count = 0;

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#endif

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    80

    device->master = master;

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    device->tx_ring_index = 0;

    82

    83

#ifdef EC_DEBUG_IF

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    if (device == &master->main_device)

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        mb = 'm';

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

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        mb = 'b';

    88

    89

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

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    91

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

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    if (ret < 0) {

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

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        goto out_return;

    95

    }

    96

#endif

    97

    98

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

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        device->tx_skb[i] = NULL;

   100

   101

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

   102

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

   103

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

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            ret = -ENOMEM;

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            goto out_tx_ring;

   106

        }

   107

   108

        // add Ethernet-II-header

   109

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

   110

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

   111

        eth->h_proto = htons(0x88A4);

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

   113

    }

   114

   115

    ec_device_detach(device); // resets remaining fields

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    return 0;

   117

   118

out_tx_ring:

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    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]);

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#ifdef EC_DEBUG_IF

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    ec_debug_clear(&device->dbg);

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out_return:

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#endif

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    return ret;

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}

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   129

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

   130

   131

/** Destructor.

   132

 */

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void ec_device_clear(

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        ec_device_t *device /**< EtherCAT device */

   135

        )

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{

   137

    unsigned int i;

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   139

    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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   147

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

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   149

/** Associate with net_device.

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 */

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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 */

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        )

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{

   158

    unsigned int i;

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    struct ethhdr *eth;

   160

   161

    ec_device_detach(device); // resets fields

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   163

    device->dev = net_dev;

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    device->poll = poll;

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    device->module = module;

   166

   167

    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);

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    }

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   173

#ifdef EC_DEBUG_IF

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    ec_debug_register(&device->dbg, net_dev);

   175

#endif

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}

   177

   178

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

   179

   180

/** Disconnect from net_device.

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 */

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void ec_device_detach(

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        ec_device_t *device /**< EtherCAT device */

   184

        )

   185

{

   186

    unsigned int i;

   187

   188

#ifdef EC_DEBUG_IF

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    ec_debug_unregister(&device->dbg);

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#endif

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    device->dev = NULL;

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    device->poll = NULL;

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    device->module = NULL;

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    device->open = 0;

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    device->link_state = 0; // down

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    device->tx_count = 0;

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    device->rx_count = 0;

   199

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

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

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}

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   203

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

   204

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/** Opens the EtherCAT device.

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 *

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

   208

 */

   209

int ec_device_open(

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        ec_device_t *device /**< EtherCAT device */

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        )

   212

{

   213

    int ret;

   214

   215

    if (!device->dev) {

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

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        return -ENODEV;

   218

    }

   219

   220

    if (device->open) {

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

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        return 0;

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    }

   224

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    device->link_state = 0;

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    device->tx_count = 0;

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    device->rx_count = 0;

   228

   229

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

   230

    if (!ret)

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        device->open = 1;

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   233

    return ret;

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}

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

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/** Stops the EtherCAT device.

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 *

   240

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

   241

 */

   242

int ec_device_close(

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        ec_device_t *device /**< EtherCAT device */

   244

        )

   245

{

   246

    int ret;

   247

   248

    if (!device->dev) {

   249

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

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        return -ENODEV;

   251

    }

   252

   253

    if (!device->open) {

   254

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

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        return 0;

   256

    }

   257

   258

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

   259

    if (!ret)

   260

        device->open = 0;

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   262

    return ret;

   263

}

   264

   265

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

   266

   267

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

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 *

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 * \return pointer to the TX socket buffer

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 */

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uint8_t *ec_device_tx_data(

   272

        ec_device_t *device /**< EtherCAT device */

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        )

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{

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    /* 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

   277

     * between. */

   278

    device->tx_ring_index++;

   279

    device->tx_ring_index %= EC_TX_RING_SIZE;

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

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}

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   283

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

   284

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/** 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.

   289

 */

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void ec_device_send(

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

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

   293

        )

   294

{

   295

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

   296

   297

    if (unlikely(!device->link_state)) // Link down

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        return;

   299

   300

    // set the right length for the data

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    skb->len = ETH_HLEN + size;

   302

   303

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

   304

        EC_DBG("sending frame:\n");

   305

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

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    }

   307

   308

    // start sending

   309

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

   310

		device->tx_count++;

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#ifdef EC_DEBUG_IF

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

   313

#endif

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#ifdef EC_DEBUG_RING

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		ec_device_debug_ring_append(

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

   317

#endif

   318

	}

   319

}

   320

   321

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

   322

   323

#ifdef EC_DEBUG_RING

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/** Appends frame data to the debug ring.

   325

 */

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void ec_device_debug_ring_append(

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

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        ec_debug_frame_dir_t dir, /**< direction */

   329

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

   330

        size_t size /**< data size */

   331

        )

   332

{

   333

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

   334

   335

    df->dir = dir;

   336

    if (dir == TX)

   337

        do_gettimeofday(&df->t);

   338

    else

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        df->t = device->timeval_poll;

   340

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

   341

    df->data_size = size;

   342

   343

    device->debug_frame_index++;

   344

    device->debug_frame_index %= EC_DEBUG_RING_SIZE;

   345

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

   346

        device->debug_frame_count++;

   347

}

   348

   349

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

   350

   351

/** Outputs the debug ring.

   352

 */

   353

void ec_device_debug_ring_print(

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

   355

        )

   356

{

   357

    int i;

   358

    unsigned int ring_index;

   359

    const ec_debug_frame_t *df;

   360

    struct timeval t0, diff;

   361

   362

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

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

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        % EC_DEBUG_RING_SIZE;

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

   366

   367

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

   368

   369

    // calculate index of the oldest frame in the ring

   370

    ring_index = (device->debug_frame_index + EC_DEBUG_RING_SIZE

   371

            - device->debug_frame_count) % EC_DEBUG_RING_SIZE;

   372

   373

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

   374

        df = &device->debug_frames[ring_index];

   375

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

   376

   377

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

   378

                i + 1 - device->debug_frame_count,

   379

                (unsigned int) diff.tv_sec,

   380

                (unsigned int) diff.tv_usec,

   381

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

   382

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

   383

   384

        ring_index++;

   385

        ring_index %= EC_DEBUG_RING_SIZE;

   386

    }

   387

}

   388

#endif

   389

   390

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

   391

   392

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

   393

 *

   394

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

   395

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

   396

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

   397

 */

   398

void ec_device_poll(

   399

        ec_device_t *device /**< EtherCAT device */

   400

        )

   401

{

   402

#ifdef EC_HAVE_CYCLES

   403

    device->cycles_poll = get_cycles();

   404

#endif

   405

    device->jiffies_poll = jiffies;

   406

#ifdef EC_DEBUG_RING

   407

    do_gettimeofday(&device->timeval_poll);

   408

#endif

   409

    device->poll(device->dev);

   410

}

   411

   412

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

   413

 *  Device interface

   414

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

   415

   416

/** Withdraws an EtherCAT device from the master.

   417

 *

   418

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

   419

 * are freed.

   420

 *

   421

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

   422

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

   423

 *            any more.

   424

 * \ingroup DeviceInterface

   425

 */

   426

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

   427

{

   428

    ec_master_t *master = device->master;

   429

    char str[20];

   430

   431

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

   432

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

   433

   434

    down(&master->device_sem);

   435

    ec_device_detach(device);

   436

    up(&master->device_sem);

   437

}

   438

   439

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

   440

   441

/** Opens the network device and makes the master enter IDLE phase.

   442

 *

   443

 * \return 0 on success, else < 0

   444

 * \ingroup DeviceInterface

   445

 */

   446

int ecdev_open(ec_device_t *device /**< EtherCAT device */)

   447

{

   448

    int ret;

   449

   450

    ret = ec_device_open(device);

   451

    if (ret) {

   452

        EC_ERR("Failed to open device!\n");

   453

        return ret;

   454

    }

   455

   456

    ret = ec_master_enter_idle_phase(device->master);

   457

    if (ret) {

   458

        EC_ERR("Failed to enter IDLE phase!\n");

   459

        return ret;

   460

    }

   461

   462

    return 0;

   463

}

   464

   465

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

   466

   467

/** Makes the master leave IDLE phase and closes the network device.

   468

 *

   469

 * \return 0 on success, else < 0

   470

 * \ingroup DeviceInterface

   471

 */

   472

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

   473

{

   474

    ec_master_leave_idle_phase(device->master);

   475

   476

    if (ec_device_close(device))

   477

        EC_WARN("Failed to close device!\n");

   478

}

   479

   480

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

   481

   482

/** Accepts a received frame.

   483

 *

   484

 * Forwards the received data to the master. The master will analyze the frame

   485

 * and dispatch the received commands to the sending instances.

   486

 * 

   487

 * \ingroup DeviceInterface

   488

 */