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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

{

   158

    if (eoe->dev) { // TODO: dev never NULL?

   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 size in 32 bit blocks, rounded up.

   229

        complete_offset = remaining_size / 32 + 1;

   230

    }

   231

   232

#if EOE_DEBUG_LEVEL > 0

   233

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

   234

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

   235

           eoe->tx_fragment_number, current_size, complete_offset,

   236

           eoe->tx_queued_frames);

   237

#endif

   238

   239

#if EOE_DEBUG_LEVEL > 1

   240

    EC_DBG("");

   241

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

   242

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

   243

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

   244

            printk("\n");

   245

            EC_DBG("");

   246

        }

   247

    }

   248

    printk("\n");

   249

#endif

   250

   251

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

   252

                                            0x02, current_size + 4)))

   253

        return -1;

   254

   255

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

   256

    EC_WRITE_U8 (data + 1, last_fragment);

   257

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

   258

                            (complete_offset & 0x3F) << 6 |

   259

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

   260

   261

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

   262

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

   263

   264

    eoe->tx_offset += current_size;

   265

    eoe->tx_fragment_number++;

   266

    return 0;

   267

}

   268

   269

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

   270

   271

/**

   272

   Runs the EoE state machine.

   273

*/

   274

   275

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

   276

{

   277

    if (!eoe->opened) return;

   278

   279

    // call state function

   280

    eoe->state(eoe);

   281

}

   282

   283

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

   284

   285

/**

   286

   Returns the state of the device.

   287

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

   288

*/

   289

   290

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

   291

{

   292

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

   293

}

   294

   295

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

   296

   297

/**

   298

   Prints EoE handler information.

   299

*/

   300

   301

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

   302

{

   303

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

   304

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

   305

    if (eoe->slave)

   306

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

   307

    else

   308

        EC_INFO("    Not coupled.\n");

   309

}

   310

   311

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

   312

 *  STATE PROCESSING FUNCTIONS

   313

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

   314

   315

/**

   316

   State: RX_START.

   317

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

   318

   slave's mailbox for a new EoE datagram.

   319

*/

   320

   321

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

   322

{

   323

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

   324

        return;

   325

   326

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

   327

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

   328

    eoe->state = ec_eoe_state_rx_check;

   329

}

   330

   331

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

   332

   333

/**

   334

   State: RX_CHECK.

   335

   Processes the checking datagram sent in RX_START and issues a receive

   336

   datagram, if new data is available.

   337

*/

   338

   339

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

   340

{

   341

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

   342

        eoe->stats.rx_errors++;

   343

        eoe->state = ec_eoe_state_tx_start;

   344

        return;

   345

    }

   346

   347

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

   348

        eoe->state = ec_eoe_state_tx_start;

   349

        return;

   350

    }

   351

   352

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

   353

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

   354

    eoe->state = ec_eoe_state_rx_fetch;

   355

}

   356

   357

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

   358

   359

/**

   360

   State: RX_FETCH.

   361

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

   362

   EoE datagram.

   363

*/

   364

   365

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

   366

{

   367

    size_t rec_size, data_size;

   368

    uint8_t *data, frame_type, last_fragment, time_appended;

   369

    uint8_t frame_number, fragment_offset, fragment_number;

   370

    off_t offset;

   371

   372

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

   373

        eoe->stats.rx_errors++;

   374

        eoe->state = ec_eoe_state_tx_start;

   375

        return;

   376

    }

   377

   378

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

   379

                                     0x02, &rec_size))) {

   380

        eoe->stats.rx_errors++;

   381

        eoe->state = ec_eoe_state_tx_start;

   382

        return;

   383

    }

   384

   385

    frame_type = EC_READ_U16(data) & 0x000F;

   386

   387

    if (frame_type != 0x00) {

   388

#if EOE_DEBUG_LEVEL > 0

   389

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

   390

#endif

   391

        eoe->stats.rx_dropped++;

   392

        eoe->state = ec_eoe_state_tx_start;

   393

        return;

   394

    }

   395

   396

    // EoE Fragment Request received

   397

   398

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

   399

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

   400

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

   401

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

   402

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

   403

   404

#if EOE_DEBUG_LEVEL > 0

   405

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

   406

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

   407

           frame_number,

   408

           last_fragment ? ", last fragment" : "",

   409

           time_appended ? ", + timestamp" : "",

   410

           time_appended ? rec_size - 8 : rec_size - 4);

   411

#endif

   412

   413

#if EOE_DEBUG_LEVEL > 1

   414

    EC_DBG("");

   415

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

   416

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

   417

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

   418

            printk("\n");

   419

            EC_DBG("");

   420

        }

   421

    }

   422

    printk("\n");

   423

#endif

   424

   425

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

   426

   427

    if (!fragment_number) {

   428

        if (eoe->rx_skb) {

   429

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

   430

            dev_kfree_skb(eoe->rx_skb);

   431

        }

   432

   433

        // new socket buffer

   434

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

   435

            if (printk_ratelimit())

   436

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

   437

            eoe->stats.rx_dropped++;

   438

            eoe->state = ec_eoe_state_tx_start;

   439

            return;

   440

        }

   441

   442

        eoe->rx_skb_offset = 0;

   443

        eoe->rx_skb_size = fragment_offset * 32;

   444

        eoe->rx_expected_fragment = 0;

   445

    }

   446

    else {

   447

        if (!eoe->rx_skb) {

   448

            eoe->stats.rx_dropped++;

   449

            eoe->state = ec_eoe_state_tx_start;

   450

            return;

   451

        }

   452

   453

        offset = fragment_offset * 32;

   454

        if (offset != eoe->rx_skb_offset ||

   455

            offset + data_size > eoe->rx_skb_size ||

   456

            fragment_number != eoe->rx_expected_fragment) {

   457

            dev_kfree_skb(eoe->rx_skb);

   458

            eoe->rx_skb = NULL;

   459

            eoe->stats.rx_errors++;

   460

            eoe->state = ec_eoe_state_tx_start;

   461

            return;

   462

        }

   463

    }

   464

   465

    // copy fragment into socket buffer

   466

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

   467

    eoe->rx_skb_offset += data_size;

   468

   469

    if (last_fragment) {

   470

        // update statistics

   471

        eoe->stats.rx_packets++;

   472

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

   473

   474

#if EOE_DEBUG_LEVEL > 0

   475

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

   476

               eoe->rx_skb->len);

   477

#endif

   478

   479

        // pass socket buffer to network stack

   480

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

   481

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

   482

        eoe->rx_skb->ip_summed = CHECKSUM_UNNECESSARY;

   483

        if (netif_rx(eoe->rx_skb)) {

   484

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

   485

        }

   486

        eoe->rx_skb = NULL;

   487

   488

        eoe->state = ec_eoe_state_tx_start;

   489

    }

   490

    else {

   491

        eoe->rx_expected_fragment++;

   492

#if EOE_DEBUG_LEVEL > 0

   493

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

   494

               eoe->rx_expected_fragment);