master/device.c
author Florian Pose <fp@igh-essen.com>
Wed, 19 Sep 2007 09:44:48 +0000
changeset 736 53afedcb52f6
parent 725 8bacb27f3aa2
child 759 fe32d4cdc9c3
permissions -rw-r--r--
Ignore TAGS.
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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 "device.h"
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#include "master.h"
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#ifdef EC_DEBUG_RING
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#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
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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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        )
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{
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    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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    device->master = master;
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    device->tx_ring_index = 0;
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#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';
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    sprintf(ifname, "ecdbg%c%u", mb, master->index);
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    if (ec_debug_init(&device->dbg, ifname)) {
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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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#endif
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    for (i = 0; i < EC_TX_RING_SIZE; i++)
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        device->tx_skb[i] = NULL;
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    for (i = 0; i < EC_TX_RING_SIZE; i++) {
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        if (!(device->tx_skb[i] = dev_alloc_skb(ETH_FRAME_LEN))) {
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            EC_ERR("Error allocating device socket buffer!\n");
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            goto out_tx_ring;
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        }
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        // add Ethernet-II-header
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        skb_reserve(device->tx_skb[i], ETH_HLEN);
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        eth = (struct ethhdr *) skb_push(device->tx_skb[i], ETH_HLEN);
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        eth->h_proto = htons(0x88A4);
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        memset(eth->h_dest, 0xFF, ETH_ALEN);
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    }
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    ec_device_detach(device); // resets remaining fields
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    return 0;
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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 -1;
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}
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/*****************************************************************************/
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/**
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   EtherCAT device destuctor.
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*/
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void ec_device_clear(ec_device_t *device /**< EtherCAT device */)
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{
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    unsigned int i;
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    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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/*****************************************************************************/
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/**
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   Associate with net_device.
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*/
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void ec_device_attach(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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{
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    unsigned int i;
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    struct ethhdr *eth;
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    ec_device_detach(device); // resets fields
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    device->dev = net_dev;
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    device->poll = poll;
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    device->module = module;
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    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 + ETH_HLEN);
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        memcpy(eth->h_source, net_dev->dev_addr, ETH_ALEN);
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    }
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}
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/*****************************************************************************/
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/**
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   Disconnect from net_device.
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*/
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void ec_device_detach(ec_device_t *device /**< EtherCAT device */)
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{
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    unsigned int i;
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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;
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    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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/*****************************************************************************/
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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 */)
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{
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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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    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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    device->link_state = 0;
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    device->tx_count = 0;
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    device->rx_count = 0;
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    if (device->dev->open(device->dev) == 0) device->open = 1;
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    return device->open ? 0 : -1;
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}
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/*****************************************************************************/
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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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int ec_device_close(ec_device_t *device /**< EtherCAT device */)
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{
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    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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    if (!device->open) {
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        EC_WARN("Device already closed!\n");
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        return 0;
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    }
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    if (device->dev->stop(device->dev) == 0) device->open = 0;
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    return !device->open ? 0 : -1;
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}
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/*****************************************************************************/
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/**
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   Returns a pointer to the device's transmit memory.
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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(ec_device_t *device /**< EtherCAT device */)
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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
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     * between. */
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    device->tx_ring_index++;
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    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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/*****************************************************************************/
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/**
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   Sends the content of the transmit socket buffer.
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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.
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*/
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void ec_device_send(ec_device_t *device, /**< EtherCAT device */
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                    size_t size /**< number of bytes to send */
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                    )
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{
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    struct sk_buff *skb = device->tx_skb[device->tx_ring_index];
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    if (unlikely(!device->link_state)) // Link down
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        return;
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    // set the right length for the data
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    skb->len = ETH_HLEN + size;
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    if (unlikely(device->master->debug_level > 1)) {
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        EC_DBG("sending frame:\n");
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        ec_print_data(skb->data + ETH_HLEN, size);
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    }
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    // start sending
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    if (device->dev->hard_start_xmit(skb, device->dev) == NETDEV_TX_OK) {
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		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);
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#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);
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#endif
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	}
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}
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/*****************************************************************************/
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692
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#ifdef EC_DEBUG_RING
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/**
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 * Appends frame data to the debug ring.
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 */
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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 */
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        const void *data, /**< frame data */
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        size_t size /**< data size */
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        )
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{
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    ec_debug_frame_t *df = &device->debug_frames[device->debug_frame_index];
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    df->dir = dir;
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    if (dir == TX)
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        do_gettimeofday(&df->t);
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    else
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        df->t = device->timeval_poll;
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    memcpy(df->data, data, size);
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    df->data_size = size;
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    device->debug_frame_index++;
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    device->debug_frame_index %= EC_DEBUG_RING_SIZE;
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    if (unlikely(device->debug_frame_count < EC_DEBUG_RING_SIZE))
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        device->debug_frame_count++;
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}
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/*****************************************************************************/
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/**
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 * Outputs the debug ring.
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 */
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void ec_device_debug_ring_print(
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        const ec_device_t *device /**< EtherCAT device */
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        )
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{
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    int i;
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    unsigned int ring_index;
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    const ec_debug_frame_t *df;
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    struct timeval t0, diff;
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    // 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;
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    EC_DBG("Debug ring %i:\n", ring_index);
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    // calculate index of the oldest frame in the ring
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    ring_index = (device->debug_frame_index + EC_DEBUG_RING_SIZE
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            - device->debug_frame_count) % EC_DEBUG_RING_SIZE;
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    for (i = 0; i < device->debug_frame_count; i++) {
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        df = &device->debug_frames[ring_index];
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        timersub(&t0, &df->t, &diff);
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        EC_DBG("Frame %i, dt=%u.%06u s, %s:\n",
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                i + 1 - device->debug_frame_count,
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                (unsigned int) diff.tv_sec,
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                (unsigned int) diff.tv_usec,
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                (df->dir == TX) ? "TX" : "RX");
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        ec_print_data(df->data, df->data_size);
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        ring_index++;
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        ring_index %= EC_DEBUG_RING_SIZE;
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    }
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}
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#endif
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/*****************************************************************************/
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/**
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   Calls the poll function of the assigned net_device.
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   The master itself works without using interrupts. Therefore the processing
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   of received data and status changes of the network device has to be
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   done by the master calling the ISR "manually".
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*/
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   386
void ec_device_poll(ec_device_t *device /**< EtherCAT device */)
acdd1f9ef7ab Replaced ec_isr_t by ec_pollfunc_t; added poll function s in network drivers.
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parents: 493
diff changeset
   387
{
acdd1f9ef7ab Replaced ec_isr_t by ec_pollfunc_t; added poll function s in network drivers.
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parents: 493
diff changeset
   388
    device->cycles_poll = get_cycles();
acdd1f9ef7ab Replaced ec_isr_t by ec_pollfunc_t; added poll function s in network drivers.
Florian Pose <fp@igh-essen.com>
parents: 493
diff changeset
   389
    device->jiffies_poll = jiffies;
692
fe7cf37c33f1 Implemented debug frame ring to output the last n frames for debugging
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parents: 687
diff changeset
   390
#ifdef EC_DEBUG_RING
fe7cf37c33f1 Implemented debug frame ring to output the last n frames for debugging
Florian Pose <fp@igh-essen.com>
parents: 687
diff changeset
   391
    do_gettimeofday(&device->timeval_poll);
fe7cf37c33f1 Implemented debug frame ring to output the last n frames for debugging
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parents: 687
diff changeset
   392
#endif
533
acdd1f9ef7ab Replaced ec_isr_t by ec_pollfunc_t; added poll function s in network drivers.
Florian Pose <fp@igh-essen.com>
parents: 493
diff changeset
   393
    device->poll(device->dev);
39
6965c23a6826 likely/unlikely, Fehlermeldungen in zyklischem Code begrenzt und Kommentare ge??ndert.
Florian Pose <fp@igh-essen.com>
parents: 33
diff changeset
   394
}
6965c23a6826 likely/unlikely, Fehlermeldungen in zyklischem Code begrenzt und Kommentare ge??ndert.
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parents: 33
diff changeset
   395
54
7506e67dd122 Vereinheitlichte Schnittstellen, Include-Verzeichnis und Module getrennt.
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parents: 42
diff changeset
   396
/******************************************************************************
195
674071846ee3 Translated all comments and documentation to english language.
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parents: 191
diff changeset
   397
 *  Device interface
54
7506e67dd122 Vereinheitlichte Schnittstellen, Include-Verzeichnis und Module getrennt.
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diff changeset
   398
 *****************************************************************************/
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parents: 42
diff changeset
   399
78
3d74183d6c6b Frame-Debugging ins Device ausgelagert und verbessert.
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parents: 73
diff changeset
   400
/**
195
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diff changeset
   401
   Accepts a received frame.
199
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diff changeset
   402
   Forwards the received data to the master. The master will analyze the frame
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diff changeset
   403
   and dispatch the received commands to the sending instances.
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   404
   \ingroup DeviceInterface
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diff changeset
   405
*/
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parents: 191
diff changeset
   406
674071846ee3 Translated all comments and documentation to english language.
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parents: 191
diff changeset
   407
void ecdev_receive(ec_device_t *device, /**< EtherCAT device */
231
767548c75bf3 Added debug interface for network monitors.
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parents: 211
diff changeset
   408
                   const void *data, /**< pointer to received data */
195
674071846ee3 Translated all comments and documentation to english language.
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diff changeset
   409
                   size_t size /**< number of bytes received */
104
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
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parents: 101
diff changeset
   410
                   )
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 70
diff changeset
   411
{
692
fe7cf37c33f1 Implemented debug frame ring to output the last n frames for debugging
Florian Pose <fp@igh-essen.com>
parents: 687
diff changeset
   412
    const void *ec_data = data + ETH_HLEN;
fe7cf37c33f1 Implemented debug frame ring to output the last n frames for debugging
Florian Pose <fp@igh-essen.com>
parents: 687
diff changeset
   413
    size_t ec_size = size - ETH_HLEN;
493
b17c95eac6b2 Added frame counter.
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parents: 398
diff changeset
   414
    device->rx_count++;
b17c95eac6b2 Added frame counter.
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parents: 398
diff changeset
   415
78
3d74183d6c6b Frame-Debugging ins Device ausgelagert und verbessert.
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parents: 73
diff changeset
   416
    if (unlikely(device->master->debug_level > 1)) {
84
b4ae98855cea printk durch Makros ersetzt.
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parents: 78
diff changeset
   417
        EC_DBG("Received frame:\n");
693
e341f1788608 Switched to tx socket buffer ring to avoid race conditions when multiple
Florian Pose <fp@igh-essen.com>
parents: 692
diff changeset
   418
        ec_print_data(ec_data, ec_size);
231
767548c75bf3 Added debug interface for network monitors.
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parents: 211
diff changeset
   419
    }
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diff changeset
   420
679
62fc387ec928 Added --enable-dummy; renamed EC_DBG_IF to EC_DEBUG_IF, ENABLE_DEBUG_IF
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parents: 670
diff changeset
   421
#ifdef EC_DEBUG_IF
231
767548c75bf3 Added debug interface for network monitors.
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diff changeset
   422
    ec_debug_send(&device->dbg, data, size);
392
eaee3c8d6ae0 Debug interfaces not compiled by default.
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parents: 331
diff changeset
   423
#endif
692
fe7cf37c33f1 Implemented debug frame ring to output the last n frames for debugging
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parents: 687
diff changeset
   424
#ifdef EC_DEBUG_RING
fe7cf37c33f1 Implemented debug frame ring to output the last n frames for debugging
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parents: 687
diff changeset
   425
    ec_device_debug_ring_append(device, RX, ec_data, ec_size);
fe7cf37c33f1 Implemented debug frame ring to output the last n frames for debugging
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parents: 687
diff changeset
   426
#endif
fe7cf37c33f1 Implemented debug frame ring to output the last n frames for debugging
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parents: 687
diff changeset
   427
fe7cf37c33f1 Implemented debug frame ring to output the last n frames for debugging
Florian Pose <fp@igh-essen.com>
parents: 687
diff changeset
   428
    ec_master_receive_datagrams(device->master, ec_data, ec_size);
54
7506e67dd122 Vereinheitlichte Schnittstellen, Include-Verzeichnis und Module getrennt.
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diff changeset
   429
}
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diff changeset
   430
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diff changeset
   431
/*****************************************************************************/
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parents: 42
diff changeset
   432
96
080b46eb6e2d Link-State im Device.
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diff changeset
   433
/**
195
674071846ee3 Translated all comments and documentation to english language.
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diff changeset
   434
   Sets a new link state.
199
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diff changeset
   435
   If the device notifies the master about the link being down, the master
04ecf40fc2e9 Doxygen added interface modules and file documentation.
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diff changeset
   436
   will not try to send frames using this device.
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diff changeset
   437
   \ingroup DeviceInterface
195
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diff changeset
   438
*/
674071846ee3 Translated all comments and documentation to english language.
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diff changeset
   439
670
f57de4585a5f Replaced ecdev_link_state() with ecdev_set_link(); added
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diff changeset
   440
void ecdev_set_link(ec_device_t *device, /**< EtherCAT device */
f57de4585a5f Replaced ecdev_link_state() with ecdev_set_link(); added
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parents: 590
diff changeset
   441
        uint8_t state /**< new link state */
f57de4585a5f Replaced ecdev_link_state() with ecdev_set_link(); added
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parents: 590
diff changeset
   442
        )
104
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diff changeset
   443
{
191
ca805255a935 Prepared Free-Run mode
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diff changeset
   444
    if (unlikely(!device)) {
ca805255a935 Prepared Free-Run mode
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diff changeset
   445
        EC_WARN("ecdev_link_state: no device!\n");
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diff changeset
   446
        return;
ca805255a935 Prepared Free-Run mode
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parents: 152
diff changeset
   447
    }
ca805255a935 Prepared Free-Run mode
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diff changeset
   448
104
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diff changeset
   449
    if (likely(state != device->link_state)) {
96
080b46eb6e2d Link-State im Device.
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parents: 91
diff changeset
   450
        device->link_state = state;
080b46eb6e2d Link-State im Device.
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parents: 91
diff changeset
   451
        EC_INFO("Link state changed to %s.\n", (state ? "UP" : "DOWN"));
080b46eb6e2d Link-State im Device.
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parents: 91
diff changeset
   452
    }
080b46eb6e2d Link-State im Device.
Florian Pose <fp@igh-essen.com>
parents: 91
diff changeset
   453
}
080b46eb6e2d Link-State im Device.
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parents: 91
diff changeset
   454
080b46eb6e2d Link-State im Device.
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parents: 91
diff changeset
   455
/*****************************************************************************/
080b46eb6e2d Link-State im Device.
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parents: 91
diff changeset
   456
670
f57de4585a5f Replaced ecdev_link_state() with ecdev_set_link(); added
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parents: 590
diff changeset
   457
/**
f57de4585a5f Replaced ecdev_link_state() with ecdev_set_link(); added
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parents: 590
diff changeset
   458
   Reads the link state.
f57de4585a5f Replaced ecdev_link_state() with ecdev_set_link(); added
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parents: 590
diff changeset
   459
   \ingroup DeviceInterface
f57de4585a5f Replaced ecdev_link_state() with ecdev_set_link(); added
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parents: 590
diff changeset
   460
*/
f57de4585a5f Replaced ecdev_link_state() with ecdev_set_link(); added
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parents: 590
diff changeset
   461
f57de4585a5f Replaced ecdev_link_state() with ecdev_set_link(); added
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parents: 590
diff changeset
   462
uint8_t ecdev_get_link(ec_device_t *device /**< EtherCAT device */)
f57de4585a5f Replaced ecdev_link_state() with ecdev_set_link(); added
Florian Pose <fp@igh-essen.com>
parents: 590
diff changeset
   463
{
f57de4585a5f Replaced ecdev_link_state() with ecdev_set_link(); added
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parents: 590
diff changeset
   464
    if (unlikely(!device)) {
f57de4585a5f Replaced ecdev_link_state() with ecdev_set_link(); added
Florian Pose <fp@igh-essen.com>
parents: 590
diff changeset
   465
        EC_WARN("ecdev_link_state: no device!\n");
f57de4585a5f Replaced ecdev_link_state() with ecdev_set_link(); added
Florian Pose <fp@igh-essen.com>
parents: 590
diff changeset
   466
        return 0;
f57de4585a5f Replaced ecdev_link_state() with ecdev_set_link(); added
Florian Pose <fp@igh-essen.com>
parents: 590
diff changeset
   467
    }
f57de4585a5f Replaced ecdev_link_state() with ecdev_set_link(); added
Florian Pose <fp@igh-essen.com>
parents: 590
diff changeset
   468
f57de4585a5f Replaced ecdev_link_state() with ecdev_set_link(); added
Florian Pose <fp@igh-essen.com>
parents: 590
diff changeset
   469
    return device->link_state;
f57de4585a5f Replaced ecdev_link_state() with ecdev_set_link(); added
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parents: 590
diff changeset
   470
}
f57de4585a5f Replaced ecdev_link_state() with ecdev_set_link(); added
Florian Pose <fp@igh-essen.com>
parents: 590
diff changeset
   471
f57de4585a5f Replaced ecdev_link_state() with ecdev_set_link(); added
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parents: 590
diff changeset
   472
/*****************************************************************************/
f57de4585a5f Replaced ecdev_link_state() with ecdev_set_link(); added
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parents: 590
diff changeset
   473
199
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diff changeset
   474
/** \cond */
04ecf40fc2e9 Doxygen added interface modules and file documentation.
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diff changeset
   475
104
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diff changeset
   476
EXPORT_SYMBOL(ecdev_receive);
670
f57de4585a5f Replaced ecdev_link_state() with ecdev_set_link(); added
Florian Pose <fp@igh-essen.com>
parents: 590
diff changeset
   477
EXPORT_SYMBOL(ecdev_get_link);
f57de4585a5f Replaced ecdev_link_state() with ecdev_set_link(); added
Florian Pose <fp@igh-essen.com>
parents: 590
diff changeset
   478
EXPORT_SYMBOL(ecdev_set_link);
27
d75ef6b46e33 EtherCAT-Master in eigenes Modul ausgelagert.
Florian Pose <fp@igh-essen.com>
parents: 26
diff changeset
   479
199
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diff changeset
   480
/** \endcond */
04ecf40fc2e9 Doxygen added interface modules and file documentation.
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diff changeset
   481
04ecf40fc2e9 Doxygen added interface modules and file documentation.
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diff changeset
   482
/*****************************************************************************/