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

     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

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 *  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

/**

    35

   \file

    36

   Ethernet-over-EtherCAT (EoE).

    37

*/

    38

    39

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

    40

    41

#include <linux/netdevice.h>

    42

#include <linux/etherdevice.h>

    43

    44

#include "../include/ecrt.h"

    45

#include "globals.h"

    46

#include "master.h"

    47

#include "slave.h"

    48

#include "mailbox.h"

    49

#include "ethernet.h"

    50

    51

/**

    52

   Defines the debug level of EoE processing

    53

    54

   0 = No debug messages.

    55

   1 = Output actions.

    56

   2 = Output actions and frame data.

    57

*/

    58

    59

#define EOE_DEBUG_LEVEL 0

    60

    61

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

    62

    63

void ec_eoe_flush(ec_eoe_t *);

    64

    65

// state functions

    66

void ec_eoe_state_rx_start(ec_eoe_t *);

    67

void ec_eoe_state_rx_check(ec_eoe_t *);

    68

void ec_eoe_state_rx_fetch(ec_eoe_t *);

    69

void ec_eoe_state_tx_start(ec_eoe_t *);

    70

void ec_eoe_state_tx_sent(ec_eoe_t *);

    71

    72

// net_device functions

    73

int ec_eoedev_open(struct net_device *);

    74

int ec_eoedev_stop(struct net_device *);

    75

int ec_eoedev_tx(struct sk_buff *, struct net_device *);

    76

struct net_device_stats *ec_eoedev_stats(struct net_device *);

    77

    78

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

    79

    80

/**

    81

   EoE constructor.

    82

   Initializes the EoE handler, creates a net_device and registeres it.

    83

*/

    84

    85

int ec_eoe_init(ec_eoe_t *eoe /**< EoE handler */)

    86

{

    87

    ec_eoe_t **priv;

    88

    int result, i;

    89

    90

    eoe->slave = NULL;

    91

    ec_datagram_init(&eoe->datagram);

    92

    eoe->state = ec_eoe_state_rx_start;

    93

    eoe->opened = 0;

    94

    eoe->rx_skb = NULL;

    95

    eoe->rx_expected_fragment = 0;

    96

    INIT_LIST_HEAD(&eoe->tx_queue);

    97

    eoe->tx_frame = NULL;

    98

    eoe->tx_queue_active = 0;

    99

    eoe->tx_queued_frames = 0;

   100

    eoe->tx_queue_lock = SPIN_LOCK_UNLOCKED;

   101

    eoe->tx_frame_number = 0xFF;

   102

    memset(&eoe->stats, 0, sizeof(struct net_device_stats));

   103

   104

    if (!(eoe->dev =

   105

          alloc_netdev(sizeof(ec_eoe_t *), "eoe%d", ether_setup))) {

   106

        EC_ERR("Unable to allocate net_device for EoE handler!\n");

   107

        goto out_return;

   108

    }

   109

   110

    // initialize net_device

   111

    eoe->dev->open = ec_eoedev_open;

   112

    eoe->dev->stop = ec_eoedev_stop;

   113

    eoe->dev->hard_start_xmit = ec_eoedev_tx;

   114

    eoe->dev->get_stats = ec_eoedev_stats;

   115

   116

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

   117

        eoe->dev->dev_addr[i] = i | (i << 4);

   118

   119

    // initialize private data

   120

    priv = netdev_priv(eoe->dev);

   121

    *priv = eoe;

   122

   123

    // Usually setting the MTU appropriately makes the upper layers

   124

    // do the frame fragmenting. In some cases this doesn't work

   125

    // so the MTU is left on the Ethernet standard value and fragmenting

   126

    // is done "manually".

   127

#if 0

   128

    eoe->dev->mtu = slave->sii_rx_mailbox_size - ETH_HLEN - 10;

   129

#endif

   130

   131

    // connect the net_device to the kernel

   132

    if ((result = register_netdev(eoe->dev))) {

   133

        EC_ERR("Unable to register net_device: error %i\n", result);

   134

        goto out_free;

   135

    }

   136

   137

    // make the last address octet unique

   138

    eoe->dev->dev_addr[ETH_ALEN - 1] = (uint8_t) eoe->dev->ifindex;

   139

   140

    return 0;

   141

   142

 out_free:

   143

    free_netdev(eoe->dev);

   144

    eoe->dev = NULL;

   145

 out_return:

   146

    return -1;

   147

}

   148

   149

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

   150

   151

/**

   152

   EoE destructor.

   153

   Unregisteres the net_device and frees allocated memory.

   154

*/

   155

   156

void ec_eoe_clear(ec_eoe_t *eoe /**< EoE handler */)

   157

{

   159

        unregister_netdev(eoe->dev);

   160

        free_netdev(eoe->dev);

   161

    }

   162

   163

    // empty transmit queue

   164

    ec_eoe_flush(eoe);

   165

   166

    if (eoe->tx_frame) {

   167

        dev_kfree_skb(eoe->tx_frame->skb);

   168

        kfree(eoe->tx_frame);

   169

    }

   170

   171

    if (eoe->rx_skb) dev_kfree_skb(eoe->rx_skb);

   172

   173

    ec_datagram_clear(&eoe->datagram);

   174

}

   175

   176

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

   177

   178

/**

   179

   Empties the transmit queue.

   180

*/

   181

   182

void ec_eoe_flush(ec_eoe_t *eoe /**< EoE handler */)

   183

{

   184

    ec_eoe_frame_t *frame, *next;

   185

   186

    spin_lock_bh(&eoe->tx_queue_lock);

   187

   188

    list_for_each_entry_safe(frame, next, &eoe->tx_queue, queue) {

   189

        list_del(&frame->queue);

   190

        dev_kfree_skb(frame->skb);

   191

        kfree(frame);

   192

    }

   193

    eoe->tx_queued_frames = 0;

   194

   195

    spin_unlock_bh(&eoe->tx_queue_lock);

   196

}

   197

   198

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

   199

   200

/**

   201

   Sends a frame or the next fragment.

   202

*/

   203

   204

int ec_eoe_send(ec_eoe_t *eoe /**< EoE handler */)

   205

{

   206

    size_t remaining_size, current_size, complete_offset;

   207

    unsigned int last_fragment;

   208

    uint8_t *data;

   209

#if EOE_DEBUG_LEVEL > 1

   210

    unsigned int i;

   211

#endif

   212

   213

    remaining_size = eoe->tx_frame->skb->len - eoe->tx_offset;

   214

   215

    if (remaining_size <= eoe->slave->sii_tx_mailbox_size - 10) {

   216

        current_size = remaining_size;

   217

        last_fragment = 1;

   218

    }

   219

    else {

   220

        current_size = ((eoe->slave->sii_tx_mailbox_size - 10) / 32) * 32;

   221

        last_fragment = 0;

   222

    }

   223

   224

    if (eoe->tx_fragment_number) {

   225

        complete_offset = eoe->tx_offset / 32;

   226

    }

   227

    else {

   228

        complete_offset = remaining_size / 32 + 1;

   229

    }

   230

   231

#if EOE_DEBUG_LEVEL > 0

   232

    EC_DBG("EoE TX sending %sfragment %i with %i octets (%i)."

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           " %i frames queued.\n", last_fragment ? "last " : "",

   234

           eoe->tx_fragment_number, current_size, complete_offset,

   235

           eoe->tx_queued_frames);

   236

#endif

   237

   238

#if EOE_DEBUG_LEVEL > 1

   239

    EC_DBG("");

   240

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

   241

        printk("%02X ", frame->skb->data[eoe->tx_offset + i]);

   242

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

   243

            printk("\n");

   244

            EC_DBG("");

   245

        }

   246

    }

   247

    printk("\n");

   248

#endif

   249

   250

    if (!(data = ec_slave_mbox_prepare_send(eoe->slave, &eoe->datagram,

   251

                                            0x02, current_size + 4)))

   252

        return -1;

   253

   254

    EC_WRITE_U8 (data,     0x00); // eoe fragment req.

   255

    EC_WRITE_U8 (data + 1, last_fragment);

   256

    EC_WRITE_U16(data + 2, ((eoe->tx_fragment_number & 0x3F) |

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                            (complete_offset & 0x3F) << 6 |

   258

                            (eoe->tx_frame_number & 0x0F) << 12));

   259

   260

    memcpy(data + 4, eoe->tx_frame->skb->data + eoe->tx_offset, current_size);

   261

    ec_master_queue_datagram(eoe->slave->master, &eoe->datagram);

   262

   263

    eoe->tx_offset += current_size;

   264

    eoe->tx_fragment_number++;

   265

    return 0;

   266

}

   267

   268

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

   269

   270

/**

   271

   Runs the EoE state machine.

   272

*/

   273

   274

void ec_eoe_run(ec_eoe_t *eoe /**< EoE handler */)

   275

{

   276

    if (!eoe->opened) return;

   277

   278

    // call state function

   279

    eoe->state(eoe);

   280

}

   281

   282

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

   283

   284

/**

   285

   Returns the state of the device.

   286

   \return 1 if the device is "up", 0 if it is "down"

   287

*/

   288

   289

unsigned int ec_eoe_active(const ec_eoe_t *eoe /**< EoE handler */)

   290

{

   291

    return eoe->slave && eoe->opened;

   292

}

   293

   294

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

   295

   296

/**

   297

   Prints EoE handler information.

   298

*/

   299

   300

void ec_eoe_print(const ec_eoe_t *eoe /**< EoE handler */)

   301

{

   302

    EC_INFO("  EoE handler %s\n", eoe->dev->name);

   303

    EC_INFO("    State: %s\n", eoe->opened ? "opened" : "closed");

   304

    if (eoe->slave)

   305

        EC_INFO("    Coupled to slave %i.\n", eoe->slave->ring_position);

   306

    else

   307

        EC_INFO("    Not coupled.\n");

   308

}

   309

   310

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

   311

 *  STATE PROCESSING FUNCTIONS

   312

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

   313

   314

/**

   315

   State: RX_START.

   316

   Starts a new receiving sequence by queueing a datagram that checks the

   317

   slave's mailbox for a new EoE datagram.

   318

*/

   319

   320

void ec_eoe_state_rx_start(ec_eoe_t *eoe /**< EoE handler */)

   321

{

   322

    if (!eoe->slave->online || !eoe->slave->master->device->link_state)

   323

        return;

   324

   325

    ec_slave_mbox_prepare_check(eoe->slave, &eoe->datagram);

   326

    ec_master_queue_datagram(eoe->slave->master, &eoe->datagram);

   327

    eoe->state = ec_eoe_state_rx_check;

   328

}

   329

   330

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

   331

   332

/**

   333

   State: RX_CHECK.

   334

   Processes the checking datagram sent in RX_START and issues a receive

   335

   datagram, if new data is available.

   336

*/

   337

   338

void ec_eoe_state_rx_check(ec_eoe_t *eoe /**< EoE handler */)

   339

{

   340

    if (eoe->datagram.state != EC_CMD_RECEIVED) {

   341

        eoe->stats.rx_errors++;

   342

        eoe->state = ec_eoe_state_tx_start;

   343

        return;

   344

    }

   345

   346

    if (!ec_slave_mbox_check(&eoe->datagram)) {

   347

        eoe->state = ec_eoe_state_tx_start;

   348

        return;

   349

    }

   350

   351

    ec_slave_mbox_prepare_fetch(eoe->slave, &eoe->datagram);

   352

    ec_master_queue_datagram(eoe->slave->master, &eoe->datagram);

   353

    eoe->state = ec_eoe_state_rx_fetch;

   354

}

   355

   356

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

   357

   358

/**

   359

   State: RX_FETCH.

   360

   Checks if the requested data of RX_CHECK was received and processes the

   361

   EoE datagram.

   362

*/

   363

   364

void ec_eoe_state_rx_fetch(ec_eoe_t *eoe /**< EoE handler */)

   365

{

   366

    size_t rec_size, data_size;

   367

    uint8_t *data, frame_type, last_fragment, time_appended;

   368

    uint8_t frame_number, fragment_offset, fragment_number;

   369

    off_t offset;

   370

   371

    if (eoe->datagram.state != EC_CMD_RECEIVED) {

   372

        eoe->stats.rx_errors++;

   373

        eoe->state = ec_eoe_state_tx_start;

   374

        return;

   375

    }

   376

   377

    if (!(data = ec_slave_mbox_fetch(eoe->slave, &eoe->datagram,

   378

                                     0x02, &rec_size))) {

   379

        eoe->stats.rx_errors++;

   380

        eoe->state = ec_eoe_state_tx_start;

   381

        return;

   382

    }

   383

   384

    frame_type = EC_READ_U16(data) & 0x000F;

   385

   386

    if (frame_type == 0x00) { // EoE Fragment Request

   387

        last_fragment = (EC_READ_U16(data) >> 8) & 0x0001;

   388

        time_appended = (EC_READ_U16(data) >> 9) & 0x0001;

   389

        fragment_number = EC_READ_U16(data + 2) & 0x003F;

   390

        fragment_offset = (EC_READ_U16(data + 2) >> 6) & 0x003F;

   391

        frame_number = (EC_READ_U16(data + 2) >> 12) & 0x000F;

   392

   393

#if EOE_DEBUG_LEVEL > 0

   394

        EC_DBG("EoE RX fragment %i, offset %i, frame %i%s%s,"

   395

               " %i octets\n", fragment_number, fragment_offset,

   396

               frame_number,

   397

               last_fragment ? ", last fragment" : "",

   398

               time_appended ? ", + timestamp" : "",

   399

               time_appended ? rec_size - 8 : rec_size - 4);

   400

#endif

   401

   402

#if EOE_DEBUG_LEVEL > 1

   403

        EC_DBG("");

   404

        for (i = 0; i < rec_size - 4; i++) {

   405

            printk("%02X ", data[i + 4]);

   406

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

   407

                printk("\n");

   408

                EC_DBG("");

   409

            }

   410

        }

   411

        printk("\n");

   412

#endif

   413

   414

        data_size = time_appended ? rec_size - 8 : rec_size - 4;

   415

   416

        if (!fragment_number) {

   417

            if (eoe->rx_skb) {

   418

                EC_WARN("EoE RX freeing old socket buffer...\n");

   419

                dev_kfree_skb(eoe->rx_skb);

   420

            }

   421

   422

            // new socket buffer

   423

            if (!(eoe->rx_skb = dev_alloc_skb(fragment_offset * 32))) {

   424

                if (printk_ratelimit())

   425

                    EC_WARN("EoE RX low on mem. frame dropped.\n");

   426

                eoe->stats.rx_dropped++;

   427

                eoe->state = ec_eoe_state_tx_start;

   428

                return;

   429

            }

   430

   431

            eoe->rx_skb_offset = 0;

   432

            eoe->rx_skb_size = fragment_offset * 32;

   433

            eoe->rx_expected_fragment = 0;

   434

        }

   435

        else {

   436

            if (!eoe->rx_skb) {

   437

                eoe->stats.rx_dropped++;

   438

                eoe->state = ec_eoe_state_tx_start;

   439

                return;

   440

            }

   441

   442

            offset = fragment_offset * 32;

   443

            if (offset != eoe->rx_skb_offset ||

   444

                offset + data_size > eoe->rx_skb_size ||

   445

                fragment_number != eoe->rx_expected_fragment) {

   446

                eoe->stats.rx_errors++;

   447

                eoe->state = ec_eoe_state_tx_start;

   448

                dev_kfree_skb(eoe->rx_skb);

   449

                eoe->rx_skb = NULL;

   450

                return;

   451

            }

   452

        }

   453

   454

        // copy fragment into socket buffer

   455

        memcpy(skb_put(eoe->rx_skb, data_size), data + 4, data_size);

   456

        eoe->rx_skb_offset += data_size;

   457

   458

        if (last_fragment) {

   459

            // update statistics

   460

            eoe->stats.rx_packets++;

   461

            eoe->stats.rx_bytes += eoe->rx_skb->len;

   462

   463

#if EOE_DEBUG_LEVEL > 0

   464

            EC_DBG("EoE RX frame completed with %u octets.\n",

   465

                   eoe->rx_skb->len);

   466

#endif

   467

   468

            // pass socket buffer to network stack

   469

            eoe->rx_skb->dev = eoe->dev;

   470

            eoe->rx_skb->protocol = eth_type_trans(eoe->rx_skb, eoe->dev);

   471

            eoe->rx_skb->ip_summed = CHECKSUM_UNNECESSARY;

   472

            if (netif_rx(eoe->rx_skb)) {

   473

                EC_WARN("EoE RX netif_rx failed.\n");

   474

            }

   475

            eoe->rx_skb = NULL;

   476

   477

            eoe->state = ec_eoe_state_tx_start;

   478

        }

   479

        else {

   480

            eoe->rx_expected_fragment++;

   481

#if EOE_DEBUG_LEVEL > 0

   482

            EC_DBG("EoE RX expecting fragment %i\n",

   483

                   eoe->rx_expected_fragment);

   484

#endif

   485

            eoe->state = ec_eoe_state_rx_start;

   486

        }

   487

    }

   488

    else {

   489

#if EOE_DEBUG_LEVEL > 0

   490

        EC_DBG("other frame received.\n");

   491

#endif