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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 master driver module.

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*/

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

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#include <linux/module.h>

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#include <linux/kernel.h>

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#include <linux/init.h>

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    45

#include "globals.h"

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#include "master.h"

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#include "device.h"

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

    50

    51

int __init ec_init_module(void);

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void __exit ec_cleanup_module(void);

    53

    54

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

    55

    56

static int ec_master_count = 1; /**< parameter value, number of masters */

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static int ec_eoeif_count = 0; /**< parameter value, number of EoE interf. */

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static struct list_head ec_masters; /**< list of masters */

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static dev_t device_number;

    60

    61

char *ec_master_version_str = EC_MASTER_VERSION;

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    63

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

    64

    65

/** \cond */

    66

    67

module_param(ec_master_count, int, S_IRUGO);

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module_param(ec_eoeif_count, int, S_IRUGO);

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    70

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

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MODULE_DESCRIPTION("EtherCAT master driver module");

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MODULE_LICENSE("GPL");

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MODULE_VERSION(EC_MASTER_VERSION);

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MODULE_PARM_DESC(ec_master_count, "number of EtherCAT masters to initialize");

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MODULE_PARM_DESC(ec_eoeif_count, "number of EoE interfaces per master");

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    77

/** \endcond */

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    79

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

    80

    81

/**

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   Module initialization.

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   Initializes \a ec_master_count masters.

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   \return 0 on success, else < 0

    85

*/

    86

    87

int __init ec_init_module(void)

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{

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    unsigned int i;

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    ec_master_t *master, *next;

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    92

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

    93

    94

    if (ec_master_count < 1) {

    95

        EC_ERR("Invalid ec_master_count: %i\n", ec_master_count);

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        goto out_return;

    97

    }

    98

    99

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

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

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        goto out_return;

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    }

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    EC_INFO("Initializing %i EtherCAT master(s)...\n", ec_master_count);

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   106

    INIT_LIST_HEAD(&ec_masters);

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   108

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

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        if (!(master =

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              (ec_master_t *) kmalloc(sizeof(ec_master_t), GFP_KERNEL))) {

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            EC_ERR("Failed to allocate memory for EtherCAT master %i.\n", i);

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            goto out_free;

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        }

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        if (ec_master_init(master, i, ec_eoeif_count, device_number))

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            goto out_free;

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        list_add_tail(&master->list, &ec_masters);

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    }

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    EC_INFO("Master driver initialized.\n");

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    return 0;

   123

   124

 out_free:

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    list_for_each_entry_safe(master, next, &ec_masters, list) {

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        list_del(&master->list);

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        kobject_del(&master->kobj);

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        kobject_put(&master->kobj);

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    }

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 out_return:

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    return -1;

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}

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   134

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

   135

   136

/**

   137

   Module cleanup.

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   Clears all master instances.

   139

*/

   140

   141

void __exit ec_cleanup_module(void)

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{

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    ec_master_t *master, *next;

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    EC_INFO("Cleaning up master driver...\n");

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    list_for_each_entry_safe(master, next, &ec_masters, list) {

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        list_del(&master->list);

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        ec_master_destroy(master);

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    }

   151

   152

    unregister_chrdev_region(device_number, ec_master_count);

   153

   154

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

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}

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   157

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

   158

   159

/**

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   Gets a handle to a certain master.

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   \returns pointer to master

   162

*/

   163

   164

ec_master_t *ec_find_master(unsigned int master_index /**< master index */)

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{

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    ec_master_t *master;

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   168

    list_for_each_entry(master, &ec_masters, list) {

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        if (master->index == master_index) return master;

   170

    }

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   172

    EC_ERR("Master %i does not exist!\n", master_index);

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    return NULL;

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}

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

   177

   178

/**

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   Outputs frame contents for debugging purposes.

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*/

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   182

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

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

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                   )

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{

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    unsigned int i;

   187

   188

    EC_DBG("");

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

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

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

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            printk("\n");

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            EC_DBG("");

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        }

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    }

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    printk("\n");

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}

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   199

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

   200

   201

/**

   202

   Outputs frame contents and differences for debugging purposes.

   203

*/

   204

   205

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

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

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

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                        )

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{

   210

    unsigned int i;

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   212

    EC_DBG("");

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

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

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

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

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            printk("\n");

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            EC_DBG("");

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        }

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    }

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    printk("\n");

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}

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

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   226

/**

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   Prints slave states in clear text.

   228

*/

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   230

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

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                       char *buffer /**< target buffer

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                                       (min. EC_STATE_STRING_SIZE bytes) */

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                       )

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{

   235

    off_t off = 0;

   236

    unsigned int first = 1;

   237

   238

    if (!states) {

   239

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

   240

        return off;

   241

    }

   242

   243

    if (states & EC_SLAVE_STATE_INIT) {

   244

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

   245

        first = 0;

   246

    }

   247

    if (states & EC_SLAVE_STATE_PREOP) {

   248

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

   249

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

   250

        first = 0;

   251

    }

   252

    if (states & EC_SLAVE_STATE_SAVEOP) {

   253

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

   254

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

   255

        first = 0;

   256

    }

   257

    if (states & EC_SLAVE_STATE_OP) {

   258

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

   259

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

   260

    }

   261

    if (states & EC_SLAVE_STATE_ACK_ERR) {

   262

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

   263

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

   264

    }

   265

   266

    return off;

   267

}

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   269

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

   270

 *  Device interface

   271

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

   272

   273

/**

   274

   Connects an EtherCAT device to a certain master.

   275

   The master will use the device for sending and receiving frames. It is

   276

   required that no other instance (for example the kernel IP stack) uses

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   the device.

   278

   \return 0 on success, else < 0

   279

   \ingroup DeviceInterface

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*/

   281

   282

ec_device_t *ecdev_register(unsigned int master_index, /**< master index */

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                            struct net_device *net_dev, /**< net_device of

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                                                           the device */

   285

                            ec_isr_t isr, /**< interrupt service routine */

   286

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

   287

                            )

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{

   289

    ec_master_t *master;

   290

   291

    if (!(master = ec_find_master(master_index))) return NULL;

   292

   293

    if (down_interruptible(&master->device_sem)) {

   294

        EC_ERR("Interrupted while waiting for device!\n");

   295

        goto out_return;

   296

    }

   297

   298

    if (master->device) {

   299

        EC_ERR("Master %i already has a device!\n", master_index);

   300

        goto out_up;

   301

    }

   302

   303

    if (!(master->device =

   304

          (ec_device_t *) kmalloc(sizeof(ec_device_t), GFP_KERNEL))) {

   305

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

   306

        goto out_up;

   307

    }

   308

   309

    if (ec_device_init(master->device, master, net_dev, isr, module)) {

   310

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

   311

        goto out_free;

   312

    }

   313

   319

    up(&master->device_sem);

   323

    return master->device;

   324

   327

 out_free:

   328

    kfree(master->device);

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    master->device = NULL;

   330

 out_up:

   331

    up(&master->device_sem);

   332

 out_return:

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    return NULL;

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}

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   336

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

   337

   338

/**

   339

   Disconnect an EtherCAT device from the master.

   340

   The device is disconnected from the master and all device ressources

   341

   are freed.

   342

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

   343

   to be called, to be sure that the master does not use the device any more.

   344

   \ingroup DeviceInterface

   345

*/

   346

   347

void ecdev_unregister(unsigned int master_index, /**< master index */

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                      ec_device_t *device /**< EtherCAT device */

   349

                      )

   350

{

   351

    ec_master_t *master;

   352

   353

    if (!(master = ec_find_master(master_index))) return;

   354

   360

    down(&master->device_sem);

   361

   362

    if (!master->device || master->device != device) {

   363

        up(&master->device_sem);

   364

        EC_WARN("Unable to unregister device!\n");

   365

        return;

   366

    }

   367

   368

    ec_device_clear(master->device);

   369

    kfree(master->device);

   370

    master->device = NULL;

   371

   372

    up(&master->device_sem);

   373

}

   374

   375

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

   376

 *  Realtime interface

   377

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

   378

   379

/**

   380

   Reserves an EtherCAT master for realtime operation.

   381

   \return pointer to reserved master, or NULL on error

   382

   \ingroup RealtimeInterface

   383

*/

   384

   385

ec_master_t *ecrt_request_master(unsigned int master_index

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                                 /**< master index */

   387

                                 )

   388

{

   389

    ec_master_t *master;

   390

   391

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

   392

   393

    if (!(master = ec_find_master(master_index))) goto out_return;

   394

   395

    if (!atomic_dec_and_test(&master->available)) {

   396

        atomic_inc(&master->available);

   397

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

   398

        goto out_return;

   399

    }

   400

   401

    if (down_interruptible(&master->device_sem)) {

   402

        EC_ERR("Interrupted while waiting for device!\n");

   403

        goto out_release;

   404

    }

   405

   406

    if (!master->device) {

   407

        up(&master->device_sem);

   408

        EC_ERR("Master %i has no assigned device!\n", master_index);

   409

        goto out_release;

   410

    }

   411

   412

    if (!try_module_get(master->device->module)) {

   413

        up(&master->device_sem);

   414

        EC_ERR("Device module is unloading!\n");

   415

        goto out_release;

   416

    }

   417

   418

    up(&master->device_sem);

   419

   420

    if (!master->device->link_state) {

   421

        EC_ERR("Link is DOWN.\n");

   422

        goto out_module_put;

   423

    }

   424

   425

    if (ec_master_enter_operation_mode(master)) {

   426

        EC_ERR("Failed to enter OPERATION mode!\n");

   427

        goto out_module_put;

   428

    }

   429

   430

    EC_INFO("Successfully requested master %i.\n", master_index);

   431

    return master;

   432

   433

 out_module_put:

   434

    module_put(master->device->module);

   435

 out_release:

   436

    atomic_inc(&master->available);

   437

 out_return:

   438

    return NULL;

   439

}

   440

   441

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

   442

   443

/**

   444

   Releases a reserved EtherCAT master.

   445

   \ingroup RealtimeInterface

   446

*/

   447

   448

void ecrt_release_master(ec_master_t *master /**< EtherCAT master */)

   449

{

   450

    ec_master_leave_operation_mode(master);

   451

   452

    module_put(master->device->module);

   453

    atomic_inc(&master->available);

   454

   455

    EC_INFO("Released master %i.\n", master->index);

   456

    return;

   457

}

   458

   459

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

   460

   461

/** \cond */

   462

   463

module_init(ec_init_module);

   464

module_exit(ec_cleanup_module);

   465

   466

EXPORT_SYMBOL(ecdev_register);

   467

EXPORT_SYMBOL(ecdev_unregister);

   468

EXPORT_SYMBOL(ecrt_request_master);

   469

EXPORT_SYMBOL(ecrt_release_master);

   470

   471

/** \endcond */

   472

   473

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