1

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

     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

    12

 *  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

/** \file

    35

 * EtherCAT master driver module.

    36

 */

    37

    38

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

    39

    40

#include <linux/module.h>

    41

#include <linux/device.h>

    42

    43

#include "globals.h"

    44

#include "master.h"

    45

#include "device.h"

    46

    47

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

    48

    49

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

    50

    51

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

    52

    53

int __init ec_init_module(void);

    54

void __exit ec_cleanup_module(void);

    55

    56

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

    57

    58

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

    59

    60

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

    61

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

    62

    63

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

    64

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

    65

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

    66

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

    67

    68

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

    69

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

    70

    71

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

    72

    73

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

    74

    75

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

    76

    77

/** \cond */

    78

    79

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

    80

MODULE_DESCRIPTION("EtherCAT master driver module");

    81

MODULE_LICENSE("GPL");

    82

MODULE_VERSION(EC_MASTER_VERSION);

    83

    84

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

    85

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

    86

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

    87

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

    88

    89

/** \endcond */

    90

    91

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

    92

    93

/** Module initialization.

    94

 *

    95

 * Initializes \a master_count masters.

    96

 * \return 0 on success, else < 0

    97

 */

    98

int __init ec_init_module(void)

    99

{

   100

    int i, ret = 0;

   101

   102

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

   103

   104

    init_MUTEX(&master_sem);

   105

   106

    if (master_count) {

   107

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

   108

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

   109

            ret = -EBUSY;

   110

            goto out_return;

   111

        }

   112

    }

   113

   114

    class = class_create(THIS_MODULE, "EtherCAT");

   115

    if (IS_ERR(class)) {

   116

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

   117

        goto out_cdev;

   118

    }

   119

   120

    // zero MAC addresses

   121

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

   122

   123

    // process MAC parameters

   124

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

   125

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

   126

            ret = -EINVAL;

   127

            goto out_class;

   128

        }

   129

   130

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

   131

            ret = -EINVAL;

   132

            goto out_class;

   133

        }

   134

    }

   135

   136

    if (master_count) {

   137

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

   138

                        GFP_KERNEL))) {

   139

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

   140

            ret = -ENOMEM;

   141

            goto out_class;

   142

        }

   143

    }

   144

   145

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

   146

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

   147

                    device_number, class)) {

   148

            ret = -ENOMEM;

   149

            goto out_free_masters;

   150

        }

   151

    }

   152

   153

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

   154

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

   155

    return ret;

   156

   157

out_free_masters:

   158

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

   159

        ec_master_clear(&masters[i]);

   160

    kfree(masters);

   161

out_class:

   162

    class_destroy(class);

   163

out_cdev:

   164

    if (master_count)

   165

        unregister_chrdev_region(device_number, master_count);

   166

out_return:

   167

    return ret;

   168

}

   169

   170

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

   171

   172

/** Module cleanup.

   173

 *

   174

 * Clears all master instances.

   175

 */

   176

void __exit ec_cleanup_module(void)

   177

{

   178

    unsigned int i;

   179

   180

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

   181

        ec_master_clear(&masters[i]);

   182

    }

   183

   184

    if (master_count)

   185

        kfree(masters);

   186

   187

    class_destroy(class);

   188

   189

    if (master_count)

   190

        unregister_chrdev_region(device_number, master_count);

   191

   192

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

   193

}

   194

   195

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

   196

 * MAC address functions

   197

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

   198

   199

/**

   200

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

   201

 */

   202

int ec_mac_equal(

   203

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

   204

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

   205

        )

   206

{

   207

    unsigned int i;

   208

   209

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

   210

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

   211

            return 0;

   212

   213

    return 1;

   214

}

   215

   216

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

   217

   218

/** Print a MAC address to a buffer.

   219

 *

   220

 * \return number of bytes written.

   221

 */

   222

ssize_t ec_mac_print(

   223

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

   224

        char *buffer /**< target buffer */

   225

        )

   226

{

   227

    off_t off = 0;

   228

    unsigned int i;

   229

   230

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

   231

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

   232

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

   233

    }

   234

   235

    return off;

   236

}

   237

   238

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

   239

   240

/**

   241

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

   242

 */

   243

int ec_mac_is_zero(

   244

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

   245

        )

   246

{

   247

    unsigned int i;

   248

   249

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

   250

        if (mac[i])

   251

            return 0;

   252

   253

    return 1;

   254

}

   255

   256

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

   257

   258

/**

   259

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

   260

 */

   261

int ec_mac_is_broadcast(

   262

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

   263

        )

   264

{

   265

    unsigned int i;

   266

   267

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

   268

        if (mac[i] != 0xff)

   269

            return 0;

   270

   271

    return 1;

   272

}

   273

   274

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

   275

   276

/** Parse a MAC address from a string.

   277

 *

   278

 * The MAC address must follow the regexp

   279

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

   280

 *

   281

 * \return 0 on success, else < 0

   282

 */

   283

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

   284

{

   285

    unsigned int i, value;

   286

    const char *orig = src;

   287

    char *rem;

   288

   289

    if (!strlen(src)) {

   290

        if (allow_empty){

   291

            return 0;

   292

        }

   293

        else {

   294

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

   295

            return -EINVAL;

   296

        }

   297

    }

   298

   299

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

   300

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

   301

        if (rem != src + 2

   302

                || value > 0xFF

   303

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

   304

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

   305

            return -EINVAL;

   306

        }

   307

        mac[i] = value;

   308

        if (i < ETH_ALEN - 1)

   309

            src = rem + 1; // skip colon

   310

    }

   311

   312

    return 0;

   313

}

   314

   315

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

   316

   317

/** Outputs frame contents for debugging purposes.

   318

 */

   319

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

   320

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

   321

                   )

   322

{

   323

    unsigned int i;

   324

   325

    EC_DBG("");

   326

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

   327

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

   328

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

   329

            printk("\n");

   330

            EC_DBG("");

   331

        }

   332

    }

   333

    printk("\n");

   334

}

   335

   336

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

   337

   338

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

   339

 */

   340

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

   341

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

   342

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

   343

                        )

   344

{

   345

    unsigned int i;

   346

   347

    EC_DBG("");

   348

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

   349

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

   350

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

   351

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

   352

            printk("\n");

   353

            EC_DBG("");

   354

        }

   355

    }

   356

    printk("\n");

   357

}

   358

   359

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

   360

   361

/** Prints slave states in clear text.

   362

 */

   363

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

   364

                       char *buffer /**< target buffer

   365

                                       (min. EC_STATE_STRING_SIZE bytes) */

   366

                       )

   367

{

   368

    off_t off = 0;

   369

    unsigned int first = 1;

   370

   371

    if (!states) {

   372

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

   373

        return off;

   374

    }

   375

   376

    if (states & EC_SLAVE_STATE_INIT) {

   377

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

   378

        first = 0;

   379

    }

   380

    if (states & EC_SLAVE_STATE_PREOP) {

   381

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

   382

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

   383

        first = 0;

   384

    }

   385

    if (states & EC_SLAVE_STATE_SAFEOP) {

   386

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

   387

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

   388

        first = 0;

   389

    }

   390

    if (states & EC_SLAVE_STATE_OP) {

   391

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

   392

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

   393

    }

   394

    if (states & EC_SLAVE_STATE_ACK_ERR) {

   395

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

   396

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

   397

    }

   398

   399

    return off;

   400

}

   401

   402

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

   403

 *  Device interface

   404

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

   405

   406

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

   407

 *

   408

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

   409

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

   410

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

   411

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

   412

 *

   413

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

   414

 * \ingroup DeviceInterface

   415

 */

   416

ec_device_t *ecdev_offer(

   417

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

   418

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

   419

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

   420

        )

   421

{

   422

    ec_master_t *master;

   423

    char str[20];

   424

    unsigned int i;

   425

   426

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

   427

        master = &masters[i];

   428

   429

        down(&master->device_sem);

   430

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

   431

            up(&master->device_sem);

   432

            continue;

   433

        }

   434

   435

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

   436

                || ec_mac_is_broadcast(master->main_mac)) {

   437

            ec_mac_print(net_dev->dev_addr, str);

   438

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

   439

                    str, master->index);

   440

   441

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

   442

            up(&master->device_sem);

   443

   444

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

   445

            return &master->main_device; // offer accepted

   446

        }

   447

        else {

   448

            up(&master->device_sem);

   449

   450

            if (master->debug_level) {

   451

                ec_mac_print(net_dev->dev_addr, str);

   452

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

   453

            }

   454

        }

   455

    }

   456

   457

    return NULL; // offer declined

   458

}

   459

   460

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

   461

 *  Realtime interface

   462

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

   463

   464

ec_master_t *ecrt_request_master(unsigned int master_index)

   465

{

   466

    ec_master_t *master;

   467

   468

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

   469

   470

    if (master_index >= master_count) {

   471

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

   472

        goto out_return;

   473

    }

   474

    master = &masters[master_index];

   475

   476

    if (down_interruptible(&master_sem))

   477

        goto out_return;

   478

   479

    if (master->reserved) {

   480

        up(&master_sem);

   481

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

   482

        goto out_return;

   483

    }

   484

    master->reserved = 1;

   485

    up(&master_sem);

   486