author | Florian Pose <fp@igh-essen.com> |
Thu, 28 Sep 2006 13:24:44 +0000 | |
changeset 383 | 30ae9db75fea |
parent 331 | 17f58fe99511 |
child 392 | eaee3c8d6ae0 |
permissions | -rw-r--r-- |
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/****************************************************************************** |
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* |
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* $Id$ |
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* |
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* Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH |
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* |
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* This file is part of the IgH EtherCAT Master. |
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* |
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* The IgH EtherCAT Master is free software; you can redistribute it |
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* and/or modify it under the terms of the GNU General Public License |
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* as published by the Free Software Foundation; either version 2 of the |
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* License, or (at your option) any later version. |
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* |
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* The IgH EtherCAT Master is distributed in the hope that it will be |
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* useful, but WITHOUT ANY WARRANTY; without even the implied warranty of |
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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* GNU General 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 |
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* along 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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* |
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* The right to use EtherCAT Technology is granted and comes free of |
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* charge under condition of compatibility of product made by |
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* Licensee. People intending to distribute/sell products based on the |
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* code, have to sign an agreement to guarantee that products using |
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* software based on IgH EtherCAT master stay compatible with the actual |
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* EtherCAT specification (which are released themselves as an open |
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* standard) as the (only) precondition to have the right to use EtherCAT |
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* Technology, IP and trade marks. |
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* |
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*****************************************************************************/ |
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/** |
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\file |
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EtherCAT device methods. |
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*/ |
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/*****************************************************************************/ |
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#include <linux/module.h> |
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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 <linux/delay.h> |
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#include "device.h" |
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#include "master.h" |
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/*****************************************************************************/ |
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/** |
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Device constructor. |
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\return 0 in case of success, else < 0 |
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*/ |
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int ec_device_init(ec_device_t *device, /**< EtherCAT device */ |
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ec_master_t *master, /**< master owning the device */ |
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struct net_device *net_dev, /**< net_device structure */ |
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ec_isr_t isr, /**< pointer to device's ISR */ |
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struct module *module /**< pointer to the owning module */ |
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) |
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{ |
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struct ethhdr *eth; |
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device->master = master; |
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device->dev = net_dev; |
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device->isr = isr; |
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device->module = module; |
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device->open = 0; |
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device->link_state = 0; // down |
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if (ec_debug_init(&device->dbg)) { |
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EC_ERR("Failed to init debug device!\n"); |
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goto out_return; |
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} |
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if (!(device->tx_skb = dev_alloc_skb(ETH_FRAME_LEN))) { |
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EC_ERR("Error allocating device socket buffer!\n"); |
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goto out_debug; |
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} |
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device->tx_skb->dev = net_dev; |
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// add Ethernet-II-header |
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skb_reserve(device->tx_skb, ETH_HLEN); |
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eth = (struct ethhdr *) skb_push(device->tx_skb, ETH_HLEN); |
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eth->h_proto = htons(0x88A4); |
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memcpy(eth->h_source, net_dev->dev_addr, net_dev->addr_len); |
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memset(eth->h_dest, 0xFF, net_dev->addr_len); |
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return 0; |
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|
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out_debug: |
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ec_debug_clear(&device->dbg); |
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out_return: |
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return -1; |
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99 |
} |
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101 |
/*****************************************************************************/ |
0 | 102 |
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103 |
/** |
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104 |
EtherCAT device destuctor. |
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105 |
*/ |
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107 |
void ec_device_clear(ec_device_t *device /**< EtherCAT device */) |
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108 |
{ |
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109 |
if (device->open) ec_device_close(device); |
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if (device->tx_skb) dev_kfree_skb(device->tx_skb); |
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ec_debug_clear(&device->dbg); |
0 | 112 |
} |
113 |
||
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/*****************************************************************************/ |
0 | 115 |
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/** |
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Opens the EtherCAT device. |
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\return 0 in case of success, else < 0 |
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*/ |
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int ec_device_open(ec_device_t *device /**< EtherCAT device */) |
0 | 122 |
{ |
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123 |
unsigned int i; |
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124 |
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if (!device->dev) { |
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EC_ERR("No net_device to open!\n"); |
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return -1; |
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} |
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|
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if (device->open) { |
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EC_WARN("Device already opened!\n"); |
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return 0; |
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} |
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134 |
|
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// device could have received frames before |
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for (i = 0; i < 4; i++) ec_device_call_isr(device); |
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|
96 | 138 |
device->link_state = 0; |
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139 |
|
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if (device->dev->open(device->dev) == 0) device->open = 1; |
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|
141 |
|
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return device->open ? 0 : -1; |
0 | 143 |
} |
144 |
||
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/*****************************************************************************/ |
0 | 146 |
|
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/** |
|
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Stops the EtherCAT device. |
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\return 0 in case of success, else < 0 |
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*/ |
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151 |
|
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int ec_device_close(ec_device_t *device /**< EtherCAT device */) |
78
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153 |
{ |
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|
154 |
if (!device->dev) { |
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EC_ERR("No device to close!\n"); |
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return -1; |
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} |
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158 |
|
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|
159 |
if (!device->open) { |
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160 |
EC_WARN("Device already closed!\n"); |
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return 0; |
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162 |
} |
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163 |
|
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164 |
if (device->dev->stop(device->dev) == 0) device->open = 0; |
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|
165 |
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166 |
return !device->open ? 0 : -1; |
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167 |
} |
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168 |
|
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169 |
/*****************************************************************************/ |
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170 |
|
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171 |
/** |
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Returns a pointer to the device's transmit memory. |
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|
173 |
\return pointer to the TX socket buffer |
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|
174 |
*/ |
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|
175 |
|
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|
176 |
uint8_t *ec_device_tx_data(ec_device_t *device /**< EtherCAT device */) |
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177 |
{ |
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178 |
return device->tx_skb->data + ETH_HLEN; |
0 | 179 |
} |
180 |
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|
181 |
/*****************************************************************************/ |
0 | 182 |
|
183 |
/** |
|
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|
184 |
Sends the content of the transmit socket buffer. |
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|
185 |
Cuts the socket buffer content to the (now known) size, and calls the |
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|
186 |
start_xmit() function of the assigned net_device. |
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|
187 |
*/ |
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|
188 |
|
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|
189 |
void ec_device_send(ec_device_t *device, /**< EtherCAT device */ |
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|
190 |
size_t size /**< number of bytes to send */ |
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|
191 |
) |
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192 |
{ |
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|
193 |
if (unlikely(!device->link_state)) // Link down |
96 | 194 |
return; |
195 |
||
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|
196 |
// set the right length for the data |
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197 |
device->tx_skb->len = ETH_HLEN + size; |
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|
198 |
|
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|
199 |
if (unlikely(device->master->debug_level > 1)) { |
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200 |
EC_DBG("sending frame:\n"); |
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|
201 |
ec_print_data(device->tx_skb->data + ETH_HLEN, size); |
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|
202 |
} |
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|
203 |
|
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|
204 |
ec_debug_send(&device->dbg, device->tx_skb->data, ETH_HLEN + size); |
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|
205 |
|
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|
206 |
// start sending |
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|
207 |
device->dev->hard_start_xmit(device->tx_skb, device->dev); |
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208 |
} |
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|
209 |
|
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210 |
/*****************************************************************************/ |
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|
211 |
|
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|
212 |
/** |
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|
213 |
Calls the interrupt service routine of the assigned net_device. |
199
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|
214 |
The master itself works without using interrupts. Therefore the processing |
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|
215 |
of received data and status changes of the network device has to be |
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|
216 |
done by the master calling the ISR "manually". |
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|
217 |
*/ |
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|
218 |
|
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|
219 |
void ec_device_call_isr(ec_device_t *device /**< EtherCAT device */) |
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220 |
{ |
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|
221 |
if (likely(device->isr)) device->isr(0, device->dev, NULL); |
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|
222 |
} |
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|
223 |
|
54
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|
224 |
/****************************************************************************** |
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|
225 |
* Device interface |
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|
226 |
*****************************************************************************/ |
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|
227 |
|
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|
228 |
/** |
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|
229 |
Accepts a received frame. |
199
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|
230 |
Forwards the received data to the master. The master will analyze the frame |
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|
231 |
and dispatch the received commands to the sending instances. |
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|
232 |
\ingroup DeviceInterface |
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|
233 |
*/ |
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|
234 |
|
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|
235 |
void ecdev_receive(ec_device_t *device, /**< EtherCAT device */ |
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|
236 |
const void *data, /**< pointer to received data */ |
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|
237 |
size_t size /**< number of bytes received */ |
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|
238 |
) |
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|
239 |
{ |
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|
240 |
if (unlikely(device->master->debug_level > 1)) { |
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|
241 |
EC_DBG("Received frame:\n"); |
231
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ec_print_data_diff(device->tx_skb->data + ETH_HLEN, |
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data + ETH_HLEN, size - ETH_HLEN); |
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} |
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|
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ec_debug_send(&device->dbg, data, size); |
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|
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ec_master_receive_datagrams(device->master, |
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data + ETH_HLEN, |
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size - ETH_HLEN); |
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} |
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|
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/*****************************************************************************/ |
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|
96 | 255 |
/** |
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Sets a new link state. |
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If the device notifies the master about the link being down, the master |
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will not try to send frames using this device. |
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\ingroup DeviceInterface |
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*/ |
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|
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void ecdev_link_state(ec_device_t *device, /**< EtherCAT device */ |
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uint8_t state /**< new link state */ |
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) |
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{ |
191 | 266 |
if (unlikely(!device)) { |
267 |
EC_WARN("ecdev_link_state: no device!\n"); |
|
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return; |
|
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} |
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||
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if (likely(state != device->link_state)) { |
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device->link_state = state; |
273 |
EC_INFO("Link state changed to %s.\n", (state ? "UP" : "DOWN")); |
|
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} |
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} |
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||
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/*****************************************************************************/ |
|
278 |
||
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/** \cond */ |
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|
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EXPORT_SYMBOL(ecdev_receive); |
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EXPORT_SYMBOL(ecdev_link_state); |
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|
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/** \endcond */ |
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|
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/*****************************************************************************/ |