1

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

     2

 *

     3

 *  $Id$

     4

 *

     5

 *  Copyright (C) 2006-2008  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 and/or

    10

 *  modify it under the terms of the GNU General Public License version 2, as

    11

 *  published by the Free Software Foundation.

    12

 *

    13

 *  The IgH EtherCAT Master is distributed in the hope that it will be useful,

    14

 *  but WITHOUT ANY WARRANTY; without even the implied warranty of

    15

 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General

    16

 *  Public License for more details.

    17

 *

    18

 *  You should have received a copy of the GNU General Public License along

    19

 *  with the IgH EtherCAT Master; if not, write to the Free Software

    20

 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA

    21

 *

    22

 *  Using the EtherCAT technology and brand is permitted in compliance with

    23

 *  the industrial property and similar rights of Beckhoff Automation GmbH.

    24

 *

    25

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

    26

    27

/** \file

    28

 * EtherCAT master driver module.

    29

 */

    30

    31

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

    32

    33

#include <linux/module.h>

    34

#include <linux/device.h>

    35

    36

#include "globals.h"

    37

#include "master.h"

    38

#include "device.h"

    39

    40

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

    41

    42

#define MAX_MASTERS 5 /**< Maximum number of masters. */

    43

    44

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

    45

    46

int __init ec_init_module(void);

    47

void __exit ec_cleanup_module(void);

    48

    49

static int ec_mac_parse(uint8_t *, const char *, int);

    50

    51

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

    52

    53

static char *main_devices[MAX_MASTERS]; /**< Main devices parameter. */

    54

static char *backup_devices[MAX_MASTERS]; /**< Backup devices parameter. */

    55

    56

static ec_master_t *masters; /**< Array of masters. */

    57

static struct semaphore master_sem; /**< Master semaphore. */

    58

static unsigned int master_count; /**< Number of masters. */

    59

static unsigned int backup_count; /**< Number of backup devices. */

    60

    61

dev_t device_number; /**< Device number for master cdevs. */

    62

struct class *class; /**< Device class. */

    63

    64

static uint8_t macs[MAX_MASTERS][2][ETH_ALEN]; /**< MAC addresses. */

    65

    66

char *ec_master_version_str = EC_MASTER_VERSION; /**< Version string. */

    67

    68

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

    69

    70

/** \cond */

    71

    72

MODULE_AUTHOR("Florian Pose <fp@igh-essen.com>");

    73

MODULE_DESCRIPTION("EtherCAT master driver module");

    74

MODULE_LICENSE("GPL");

    75

MODULE_VERSION(EC_MASTER_VERSION);

    76

    77

module_param_array(main_devices, charp, &master_count, S_IRUGO);

    78

MODULE_PARM_DESC(main_devices, "MAC addresses of main devices");

    79

module_param_array(backup_devices, charp, &backup_count, S_IRUGO);

    80

MODULE_PARM_DESC(backup_devices, "MAC addresses of backup devices");

    81

    82

/** \endcond */

    83

    84

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

    85

    86

/** Module initialization.

    87

 *

    88

 * Initializes \a master_count masters.

    89

 * \return 0 on success, else < 0

    90

 */

    91

int __init ec_init_module(void)

    92

{

    93

    int i, ret = 0;

    94

    95

    EC_INFO("Master driver %s\n", EC_MASTER_VERSION);

    96

    97

    init_MUTEX(&master_sem);

    98

    99

    if (master_count) {

   100

        if (alloc_chrdev_region(&device_number, 0, master_count, "EtherCAT")) {

   101

            EC_ERR("Failed to obtain device number(s)!\n");

   102

            ret = -EBUSY;

   103

            goto out_return;

   104

        }

   105

    }

   106

   107

    class = class_create(THIS_MODULE, "EtherCAT");

   108

    if (IS_ERR(class)) {

   109

        EC_ERR("Failed to create device class.\n");

   110

        goto out_cdev;

   111

    }

   112

   113

    // zero MAC addresses

   114

    memset(macs, 0x00, sizeof(uint8_t) * MAX_MASTERS * 2 * ETH_ALEN);

   115

   116

    // process MAC parameters

   117

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

   118

        if (ec_mac_parse(macs[i][0], main_devices[i], 0)) {

   119

            ret = -EINVAL;

   120

            goto out_class;

   121

        }

   122

   123

        if (i < backup_count && ec_mac_parse(macs[i][1], backup_devices[i], 1)) {

   124

            ret = -EINVAL;

   125

            goto out_class;

   126

        }

   127

    }

   128

   129

    // initialize static master variables

   130

    ec_master_init_static();

   131

   132

    if (master_count) {

   133

        if (!(masters = kmalloc(sizeof(ec_master_t) * master_count,

   134

                        GFP_KERNEL))) {

   135

            EC_ERR("Failed to allocate memory for EtherCAT masters.\n");

   136

            ret = -ENOMEM;

   137

            goto out_class;

   138

        }

   139

    }

   140

   141

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

   142

        if (ec_master_init(&masters[i], i, macs[i][0], macs[i][1],

   143

                    device_number, class)) {

   144

            ret = -ENOMEM;

   145

            goto out_free_masters;

   146

        }

   147

    }

   148

   149

    EC_INFO("%u master%s waiting for devices.\n",

   150

            master_count, (master_count == 1 ? "" : "s"));

   151

    return ret;

   152

   153

out_free_masters:

   154

    for (i--; i >= 0; i--)

   155

        ec_master_clear(&masters[i]);

   156

    kfree(masters);

   157

out_class:

   158

    class_destroy(class);

   159

out_cdev:

   160

    if (master_count)

   161

        unregister_chrdev_region(device_number, master_count);

   162

out_return:

   163

    return ret;

   164

}

   165

   166

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

   167

   168

/** Module cleanup.

   169

 *

   170

 * Clears all master instances.

   171

 */

   172

void __exit ec_cleanup_module(void)

   173

{

   174

    unsigned int i;

   175

   176

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

   177

        ec_master_clear(&masters[i]);

   178

    }

   179

   180

    if (master_count)

   181

        kfree(masters);

   182

   183

    class_destroy(class);

   184

   185

    if (master_count)

   186

        unregister_chrdev_region(device_number, master_count);

   187

   188

    EC_INFO("Master module cleaned up.\n");

   189

}

   190

   191

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

   192

 * MAC address functions

   193

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

   194

   195

/**

   196

 * \return true, if two MAC addresses are equal.

   197

 */

   198

int ec_mac_equal(

   199

        const uint8_t *mac1, /**< First MAC address. */

   200

        const uint8_t *mac2 /**< Second MAC address. */

   201

        )

   202

{

   203

    unsigned int i;

   204

   205

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

   206

        if (mac1[i] != mac2[i])

   207

            return 0;

   208

   209

    return 1;

   210

}

   211

   212

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

   213

   214

/** Print a MAC address to a buffer.

   215

 *

   216

 * \return number of bytes written.

   217

 */

   218

ssize_t ec_mac_print(

   219

        const uint8_t *mac, /**< MAC address */

   220

        char *buffer /**< target buffer */

   221

        )

   222

{

   223

    off_t off = 0;

   224

    unsigned int i;

   225

   226

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

   227

        off += sprintf(buffer + off, "%02X", mac[i]);

   228

        if (i < ETH_ALEN - 1) off += sprintf(buffer + off, ":");

   229

    }

   230

   231

    return off;

   232

}

   233

   234

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

   235

   236

/**

   237

 * \return true, if the MAC address is all-zero.

   238

 */

   239

int ec_mac_is_zero(

   240

        const uint8_t *mac /**< MAC address. */

   241

        )

   242

{

   243

    unsigned int i;

   244

   245

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

   246

        if (mac[i])

   247

            return 0;

   248

   249

    return 1;

   250

}

   251

   252

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

   253

   254

/**

   255

 * \return true, if the given MAC address is the broadcast address.

   256

 */

   257

int ec_mac_is_broadcast(

   258

        const uint8_t *mac /**< MAC address. */

   259

        )

   260

{

   261

    unsigned int i;

   262

   263

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

   264

        if (mac[i] != 0xff)

   265

            return 0;

   266

   267

    return 1;

   268

}

   269

   270

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

   271

   272

/** Parse a MAC address from a string.

   273

 *

   274

 * The MAC address must follow the regexp

   275

 * "([0-9a-fA-F]{2}:){5}[0-9a-fA-F]{2}".

   276

 *

   277

 * \return 0 on success, else < 0

   278

 */

   279

static int ec_mac_parse(uint8_t *mac, const char *src, int allow_empty)

   280

{

   281

    unsigned int i, value;

   282

    const char *orig = src;

   283

    char *rem;

   284

   285

    if (!strlen(src)) {

   286

        if (allow_empty){

   287

            return 0;

   288

        }

   289

        else {

   290

            EC_ERR("MAC address may not be empty.\n");

   291

            return -EINVAL;

   292

        }

   293

    }

   294

   295

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

   296

        value = simple_strtoul(src, &rem, 16);

   297

        if (rem != src + 2

   298

                || value > 0xFF

   299

                || (i < ETH_ALEN - 1 && *rem != ':')) {

   300

            EC_ERR("Invalid MAC address \"%s\".\n", orig);

   301

            return -EINVAL;

   302

        }

   303

        mac[i] = value;

   304

        if (i < ETH_ALEN - 1)

   305

            src = rem + 1; // skip colon

   306

    }

   307

   308

    return 0;

   309

}

   310

   311

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

   312

   313

/** Outputs frame contents for debugging purposes.

   314

 */

   315

void ec_print_data(const uint8_t *data, /**< pointer to data */

   316

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

   317

                   )

   318

{

   319

    unsigned int i;

   320

   321

    EC_DBG("");

   322

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

   323

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

   324

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

   325

            printk("\n");

   326

            EC_DBG("");

   327

        }

   328

    }

   329

    printk("\n");

   330

}

   331

   332

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

   333

   334

/** Outputs frame contents and differences for debugging purposes.

   335

 */

   336

void ec_print_data_diff(const uint8_t *d1, /**< first data */

   337

                        const uint8_t *d2, /**< second data */

   338

                        size_t size /** number of bytes to output */

   339

                        )

   340

{

   341

    unsigned int i;

   342

   343

    EC_DBG("");

   344

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

   345

        if (d1[i] == d2[i]) printk(".. ");

   346

        else printk("%02X ", d2[i]);

   347

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

   348

            printk("\n");

   349

            EC_DBG("");

   350

        }

   351

    }

   352

    printk("\n");

   353

}

   354

   355

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

   356

   357

/** Prints slave states in clear text.

   358

 */

   359

size_t ec_state_string(uint8_t states, /**< slave states */

   360

                       char *buffer /**< target buffer

   361

                                       (min. EC_STATE_STRING_SIZE bytes) */

   362

                       )

   363

{

   364

    off_t off = 0;

   365

    unsigned int first = 1;

   366

   367

    if (!states) {

   368

        off += sprintf(buffer + off, "(unknown)");

   369

        return off;

   370

    }

   371

   372

    if (states & EC_SLAVE_STATE_INIT) {

   373

        off += sprintf(buffer + off, "INIT");

   374

        first = 0;

   375

    }

   376

    if (states & EC_SLAVE_STATE_PREOP) {

   377

        if (!first) off += sprintf(buffer + off, ", ");

   378

        off += sprintf(buffer + off, "PREOP");

   379

        first = 0;

   380

    }

   381

    if (states & EC_SLAVE_STATE_SAFEOP) {

   382

        if (!first) off += sprintf(buffer + off, ", ");

   383

        off += sprintf(buffer + off, "SAFEOP");

   384

        first = 0;

   385

    }

   386

    if (states & EC_SLAVE_STATE_OP) {

   387

        if (!first) off += sprintf(buffer + off, ", ");

   388

        off += sprintf(buffer + off, "OP");

   389

    }

   390

    if (states & EC_SLAVE_STATE_ACK_ERR) {

   391

        if (!first) off += sprintf(buffer + off, " + ");

   392

        off += sprintf(buffer + off, "ERROR");

   393

    }

   394

   395

    return off;

   396

}

   397

   398

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

   399

 *  Device interface

   400

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

   401

   402

/** Offers an EtherCAT device to a certain master.

   403

 *

   404

 * The master decides, if it wants to use the device for EtherCAT operation,

   405

 * or not. It is important, that the offered net_device is not used by the

   406

 * kernel IP stack. If the master, accepted the offer, the address of the

   407

 * newly created EtherCAT device is returned, else \a NULL is returned.

   408

 *

   409

 * \return Pointer to device, if accepted, or NULL if declined.

   410

 * \ingroup DeviceInterface

   411

 */

   412

ec_device_t *ecdev_offer(

   413

        struct net_device *net_dev, /**< net_device to offer */

   414

        ec_pollfunc_t poll, /**< device poll function */

   415

        struct module *module /**< pointer to the module */

   416

        )

   417

{

   418

    ec_master_t *master;

   419

    char str[20];

   420

    unsigned int i;

   421

   422

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

   423

        master = &masters[i];

   424

   425

        down(&master->device_sem);

   426

        if (master->main_device.dev) { // master already has a device

   427

            up(&master->device_sem);

   428

            continue;

   429

        }

   430

   431

        if (ec_mac_equal(master->main_mac, net_dev->dev_addr)

   432

                || ec_mac_is_broadcast(master->main_mac)) {

   433

            ec_mac_print(net_dev->dev_addr, str);

   434

            EC_INFO("Accepting device %s for master %u.\n",

   435

                    str, master->index);

   436

   437

            ec_device_attach(&master->main_device, net_dev, poll, module);

   438

            up(&master->device_sem);

   439

   440

            sprintf(net_dev->name, "ec%u", master->index);

   441

            return &master->main_device; // offer accepted

   442

        }

   443

        else {

   444

            up(&master->device_sem);

   445

   446

            if (master->debug_level) {

   447

                ec_mac_print(net_dev->dev_addr, str);

   448

                EC_DBG("Master %u declined device %s.\n", master->index, str);

   449

            }

   450

        }

   451

    }

   452

   453

    return NULL; // offer declined

   454

}

   455

   456

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

   457

 *  Realtime interface

   458

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

   459

   460

ec_master_t *ecrt_request_master(unsigned int master_index)

   461

{

   462

    ec_master_t *master;

   463

   464

    EC_INFO("Requesting master %u...\n", master_index);

   465

   466

    if (master_index >= master_count) {

   467

        EC_ERR("Invalid master index %u.\n", master_index);

   468

        goto out_return;

   469

    }

   470

    master = &masters[master_index];

   471

   472

    if (down_interruptible(&master_sem))

   473

        goto out_return;

   474

   475

    if (master->reserved) {

   476

        up(&master_sem);

   477

        EC_ERR("Master %u is already in use!\n", master_index);

   478

        goto out_return;

   479

    }

   480

    master->reserved = 1;

   481

    up(&master_sem);

   482

   483

    if (down_interruptible(&master->device_sem))

   484

        goto out_release;

   485

   486