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

     2

 *

     3

 *  $Id$

     4

 *

     5

 *  Copyright (C) 2006-2008  Florian Pose, Ingenieurgemeinschaft IgH

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 *

     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

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

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 *  published by the Free Software Foundation.

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 *

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

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

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

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 *  Public License for more details.

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 *

    18

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

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 *  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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 *

    22

 *  ---

    23

 *

    24

 *  The license mentioned above concerns the source code only. Using the

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

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 *  industrial property and similar rights of Beckhoff Automation GmbH.

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 *

    28

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

    29

    30

/**

    31

   \file

    32

   EtherCAT device methods.

    33

*/

    34

    35

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

    36

    37

#include <linux/module.h>

    38

#include <linux/skbuff.h>

    39

#include <linux/if_ether.h>

    40

#include <linux/netdevice.h>

    41

    42

#include "device.h"

    43

#include "master.h"

    44

    45

#ifdef EC_DEBUG_RING

    46

#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)

    55

#endif

    56

    57

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

    58

    59

/** Constructor.

    60

 * 

    61

 * \return 0 in case of success, else < 0

    62

 */

    63

int ec_device_init(

    64

        ec_device_t *device, /**< EtherCAT device */

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        ec_master_t *master /**< master owning the device */

    66

        )

    67

{

    68

    int ret;

    69

    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

    79

    80

    device->master = master;

    81

    device->tx_ring_index = 0;

    82

    83

#ifdef EC_DEBUG_IF

    84

    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';

    88

    89

    sprintf(ifname, "ecdbg%c%u", mb, master->index);

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    91

    ret = ec_debug_init(&device->dbg, ifname);

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    if (ret < 0) {

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        EC_ERR("Failed to init debug device!\n");

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        goto out_return;

    95

    }

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#endif

    97

    98

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

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        device->tx_skb[i] = NULL;

   100

   101

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

   102

        if (!(device->tx_skb[i] = dev_alloc_skb(ETH_FRAME_LEN))) {

   103

            EC_ERR("Error allocating device socket buffer!\n");

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            ret = -ENOMEM;

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            goto out_tx_ring;

   106

        }

   107

   108

        // add Ethernet-II-header

   109

        skb_reserve(device->tx_skb[i], ETH_HLEN);

   110

        eth = (struct ethhdr *) skb_push(device->tx_skb[i], ETH_HLEN);

   111

        eth->h_proto = htons(0x88A4);

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        memset(eth->h_dest, 0xFF, ETH_ALEN);

   113

    }

   114

   115

    ec_device_detach(device); // resets remaining fields

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    return 0;

   117

   118

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 ret;

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}

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   129

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

   130

   131

/** Destructor.

   132

 */

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void ec_device_clear(

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        ec_device_t *device /**< EtherCAT device */

   135

        )

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{

   137

    unsigned int i;

   138

   139

    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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   147

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

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   149

/** Associate with net_device.

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 */

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void ec_device_attach(

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        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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{

   158

    unsigned int i;

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    struct ethhdr *eth;

   160

   161

    ec_device_detach(device); // resets fields

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   163

    device->dev = net_dev;

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    device->poll = poll;

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    device->module = module;

   166

   167

    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);

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        memcpy(eth->h_source, net_dev->dev_addr, ETH_ALEN);

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    }

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   173

#ifdef EC_DEBUG_IF

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    ec_debug_register(&device->dbg, net_dev);

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#endif

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}

   177

   178

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

   179

   180

/** Disconnect from net_device.

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 */

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void ec_device_detach(

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        ec_device_t *device /**< EtherCAT device */

   184

        )

   185

{

   186

    unsigned int i;

   187

   188

#ifdef EC_DEBUG_IF

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    ec_debug_unregister(&device->dbg);

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#endif

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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;

   199

    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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   203

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

   204

   205

/** Opens the EtherCAT device.

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 *

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 * \return 0 in case of success, else < 0

   208

 */

   209

int ec_device_open(

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        ec_device_t *device /**< EtherCAT device */

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        )

   212

{

   213

    int ret;

   214

   215

    if (!device->dev) {

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        EC_ERR("No net_device to open!\n");

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        return -ENODEV;

   218

    }

   219

   220

    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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   225

    device->link_state = 0;

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    device->tx_count = 0;

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    device->rx_count = 0;

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   229

#if LINUX_VERSION_CODE >= KERNEL_VERSION(2, 6, 29)

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    ret = device->dev->netdev_ops->ndo_open(device->dev);

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#else

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    ret = device->dev->open(device->dev);

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#endif

   234

    if (!ret)

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        device->open = 1;

   236

   237

    return ret;

   238

}

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   240

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

   241

   242

/** Stops the EtherCAT device.

   243

 *

   244

 * \return 0 in case of success, else < 0

   245

 */

   246

int ec_device_close(

   247

        ec_device_t *device /**< EtherCAT device */

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        )

   249

{

   250

    int ret;

   251

   252

    if (!device->dev) {

   253

        EC_ERR("No device to close!\n");

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        return -ENODEV;

   255

    }

   256

   257

    if (!device->open) {

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        EC_WARN("Device already closed!\n");

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        return 0;

   260

    }

   261

   262

#if LINUX_VERSION_CODE >= KERNEL_VERSION(2, 6, 29)

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    ret = device->dev->netdev_ops->ndo_stop(device->dev);

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#else

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    ret = device->dev->stop(device->dev);

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#endif

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    if (!ret)

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        device->open = 0;

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    return ret;

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}

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   273

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

   274

   275

/** Returns a pointer to the device's transmit memory.

   276

 *

   277

 * \return pointer to the TX socket buffer

   278

 */

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uint8_t *ec_device_tx_data(

   280

        ec_device_t *device /**< EtherCAT device */

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        )

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{

   283

    /* 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;

   289

}

   290

   291

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

   292

   293

/** Sends the content of the transmit socket buffer.

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 *

   295

 * 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.

   297

 */

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void ec_device_send(

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        ec_device_t *device, /**< EtherCAT device */

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

   301

        )

   302

{

   303

    struct sk_buff *skb = device->tx_skb[device->tx_ring_index];

   304

   305

    if (unlikely(!device->link_state)) // Link down

   306

        return;

   307

   308

    // set the right length for the data

   309

    skb->len = ETH_HLEN + size;

   310

   311

    if (unlikely(device->master->debug_level > 1)) {

   312

        EC_DBG("Sending frame:\n");

   313

        ec_print_data(skb->data, ETH_HLEN + size);

   314

    }

   315

   316

    // start sending

   317

#if LINUX_VERSION_CODE >= KERNEL_VERSION(2, 6, 29)

   318

    if (device->dev->netdev_ops->ndo_start_xmit(skb, device->dev) ==

   319

            NETDEV_TX_OK)

   320

#else

   321

    if (device->dev->hard_start_xmit(skb, device->dev) == NETDEV_TX_OK)

   322

#endif

   323

    {

   324

        device->tx_count++;

   325

#ifdef EC_DEBUG_IF

   326

        ec_debug_send(&device->dbg, skb->data, ETH_HLEN + size);

   327

#endif

   328

#ifdef EC_DEBUG_RING

   329

        ec_device_debug_ring_append(

   330

                device, TX, skb->data + ETH_HLEN, size);

   331

#endif

   332

    }

   333

}

   334

   335

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

   336

   337

#ifdef EC_DEBUG_RING

   338

/** Appends frame data to the debug ring.

   339

 */

   340

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 */

   343

        const void *data, /**< frame data */

   344

        size_t size /**< data size */

   345

        )

   346

{

   347

    ec_debug_frame_t *df = &device->debug_frames[device->debug_frame_index];

   348

   349

    df->dir = dir;

   350

    if (dir == TX)

   351

        do_gettimeofday(&df->t);

   352

    else

   353

        df->t = device->timeval_poll;

   354

    memcpy(df->data, data, size);

   355

    df->data_size = size;

   356

   357

    device->debug_frame_index++;

   358

    device->debug_frame_index %= EC_DEBUG_RING_SIZE;

   359

    if (unlikely(device->debug_frame_count < EC_DEBUG_RING_SIZE))

   360

        device->debug_frame_count++;

   361

}

   362

   363

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

   364

   365

/** Outputs the debug ring.

   366

 */

   367

void ec_device_debug_ring_print(

   368

        const ec_device_t *device /**< EtherCAT device */

   369

        )

   370

{

   371

    int i;

   372

    unsigned int ring_index;

   373

    const ec_debug_frame_t *df;

   374

    struct timeval t0, diff;

   375

   376

    // calculate index of the newest frame in the ring to get its time

   377

    ring_index = (device->debug_frame_index + EC_DEBUG_RING_SIZE - 1)

   378

        % EC_DEBUG_RING_SIZE;

   379

    t0 = device->debug_frames[ring_index].t;

   380

   381

    EC_DBG("Debug ring %u:\n", ring_index);

   382

   383

    // calculate index of the oldest frame in the ring

   384

    ring_index = (device->debug_frame_index + EC_DEBUG_RING_SIZE

   385

            - device->debug_frame_count) % EC_DEBUG_RING_SIZE;

   386

   387

    for (i = 0; i < device->debug_frame_count; i++) {

   388

        df = &device->debug_frames[ring_index];

   389

        timersub(&t0, &df->t, &diff);

   390

   391

        EC_DBG("Frame %u, dt=%u.%06u s, %s:\n",

   392

                i + 1 - device->debug_frame_count,

   393

                (unsigned int) diff.tv_sec,

   394

                (unsigned int) diff.tv_usec,

   395

                (df->dir == TX) ? "TX" : "RX");

   396

        ec_print_data(df->data, df->data_size);

   397

   398

        ring_index++;

   399

        ring_index %= EC_DEBUG_RING_SIZE;

   400

    }

   401

}

   402

#endif

   403

   404

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

   405

   406

/** Calls the poll function of the assigned net_device.

   407

 *

   408

 * The master itself works without using interrupts. Therefore the processing

   409

 * of received data and status changes of the network device has to be

   410

 * done by the master calling the ISR "manually".

   411

 */

   412

void ec_device_poll(

   413

        ec_device_t *device /**< EtherCAT device */

   414

        )

   415

{

   416

#ifdef EC_HAVE_CYCLES

   417

    device->cycles_poll = get_cycles();

   418

#endif

   419

    device->jiffies_poll = jiffies;

   420

#ifdef EC_DEBUG_RING

   421

    do_gettimeofday(&device->timeval_poll);

   422

#endif

   423

    device->poll(device->dev);

   424

}

   425

   426

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

   427

 *  Device interface

   428

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

   429

   430

/** Withdraws an EtherCAT device from the master.

   431

 *

   432

 * The device is disconnected from the master and all device ressources

   433

 * are freed.

   434

 *

   435

 * \attention Before calling this function, the ecdev_stop() function has

   436

 *            to be called, to be sure that the master does not use the device

   437

 *            any more.

   438

 * \ingroup DeviceInterface

   439

 */

   440

void ecdev_withdraw(ec_device_t *device /**< EtherCAT device */)

   441

{

   442

    ec_master_t *master = device->master;

   443

    char str[20];

   444

   445

    ec_mac_print(device->dev->dev_addr, str);

   446

    EC_INFO("Master %u releasing main device %s.\n", master->index, str);

   447

   448

    down(&master->device_sem);

   449

    ec_device_detach(device);

   450

    up(&master->device_sem);

   451

}

   452

   453

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

   454

   455

/** Opens the network device and makes the master enter IDLE phase.

   456

 *

   457

 * \return 0 on success, else < 0

   458

 * \ingroup DeviceInterface

   459

 */

   460

int ecdev_open(ec_device_t *device /**< EtherCAT device */)

   461

{

   462

    int ret;

   463

   464

    ret = ec_device_open(device);

   465

    if (ret) {

   466

        EC_ERR("Failed to open device!\n");

   467

        return ret;

   468

    }

   469

   470

    ret = ec_master_enter_idle_phase(device->master);

   471

    if (ret) {

   472

        EC_ERR("Failed to enter IDLE phase!\n");

   473

        return ret;

   474

    }

   475

   476

    return 0;

   477

}

   478

   479

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

   480

   481

/** Makes the master leave IDLE phase and closes the network device.

   482

 *

   483

 * \return 0 on success, else < 0

   484

 * \ingroup DeviceInterface

   485

 */

   486

void ecdev_close(ec_device_t *device /**< EtherCAT device */)

   487

{