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

 *  ---

    23

 *

    24

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

    25

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

    26

 *  industrial property and similar rights of Beckhoff Automation GmbH.

    27

 *

    28

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

    29

    30

/** \file

    31

 * EtherCAT master driver module.

    32

 */

    33

    34

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

    35

    36

#include <linux/module.h>

    37

#include <linux/device.h>

    38

#include <linux/err.h>

    39

    40

#include "globals.h"

    41

#include "master.h"

    42

#include "device.h"

    43

    44

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

    45

    46

#define MAX_MASTERS 32 /**< Maximum number of masters. */

    47

    48

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

    49

    50

int __init ec_init_module(void);

    51

void __exit ec_cleanup_module(void);

    52

    53

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

    54

    55

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

    56

    57

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

    58

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

    59

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

    60

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

    61

static unsigned int debug_level;  /**< Debug level parameter. */

    62

    63

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

    64

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

    65

    66

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

    67

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

    68

    69

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

    70

    71

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

    72

    73

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

    74

    75

/** \cond */

    76

    77

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

    78

MODULE_DESCRIPTION("EtherCAT master driver module");

    79

MODULE_LICENSE("GPL");

    80

MODULE_VERSION(EC_MASTER_VERSION);

    81

    82

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

    83

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

    84

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

    85

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

    86

module_param_named(debug_level, debug_level, uint, S_IRUGO);

    87

MODULE_PARM_DESC(debug_level, "Debug level");

    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

    sema_init(&master_sem, 1);

   105

   106

    if (master_count) {

   107

        if (alloc_chrdev_region(&device_number,

   108

                    0, master_count, "EtherCAT")) {

   109

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

   110

            ret = -EBUSY;

   111

            goto out_return;

   112

        }

   113

    }

   114

   115

    class = class_create(THIS_MODULE, "EtherCAT");

   116

    if (IS_ERR(class)) {

   117

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

   118

        ret = PTR_ERR(class);

   119

        goto out_cdev;

   120

    }

   121

   122

    // zero MAC addresses

   123

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

   124

   125

    // process MAC parameters

   126

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

   127

        ret = ec_mac_parse(macs[i][0], main_devices[i], 0);

   128

        if (ret)

   129

            goto out_class;

   130

   131

        if (i < backup_count) {

   132

            ret = ec_mac_parse(macs[i][1], backup_devices[i], 1);

   133

            if (ret)

   134

                goto out_class;

   135

        }

   136

    }

   137

   138

    // initialize static master variables

   139

    ec_master_init_static();

   140

   141

    if (master_count) {

   142

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

   143

                        GFP_KERNEL))) {

   144

            EC_ERR("Failed to allocate memory"

   145

                    " for EtherCAT masters.\n");

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            ret = -ENOMEM;

   147

            goto out_class;

   148

        }

   149

    }

   150

   151

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

   152

        ret = ec_master_init(&masters[i], i, macs[i][0], macs[i][1],

   153

                    device_number, class, debug_level);

   154

        if (ret)

   155

            goto out_free_masters;

   156

    }

   157

   158

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

   159

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

   160

    return ret;

   161

   162

out_free_masters:

   163

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

   164

        ec_master_clear(&masters[i]);

   165

    kfree(masters);

   166

out_class:

   167

    class_destroy(class);

   168

out_cdev:

   169

    if (master_count)

   170

        unregister_chrdev_region(device_number, master_count);

   171

out_return:

   172

    return ret;

   173

}

   174

   175

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

   176

   177

/** Module cleanup.

   178

 *

   179

 * Clears all master instances.

   180

 */

   181

void __exit ec_cleanup_module(void)

   182

{

   183

    unsigned int i;

   184

   185

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

   186

        ec_master_clear(&masters[i]);

   187

    }

   188

   189

    if (master_count)

   190

        kfree(masters);

   191

   192

    class_destroy(class);

   193

   194

    if (master_count)

   195

        unregister_chrdev_region(device_number, master_count);

   196

   197

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

   198

}

   199

   200

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

   201

   202

/** Get the number of masters.

   203

 */

   204

unsigned int ec_master_count(void)

   205

{

   206

    return master_count;

   207

}

   208

   209

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

   210

 * MAC address functions

   211

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

   212

   213

/**

   214

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

   215

 */

   216

int ec_mac_equal(

   217

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

   218

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

   219

        )

   220

{

   221

    unsigned int i;

   222

   223

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

   224

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

   225

            return 0;

   226

   227

    return 1;

   228

}

   229

   230

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

   231

   232

/** Maximum MAC string size.

   233

 */

   234

#define EC_MAX_MAC_STRING_SIZE (3 * ETH_ALEN)

   235

   236

/** Print a MAC address to a buffer.

   237

 *

   238

 * The buffer size must be at least EC_MAX_MAC_STRING_SIZE.

   239

 *

   240

 * \return number of bytes written.

   241

 */

   242

ssize_t ec_mac_print(

   243

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

   244

        char *buffer /**< Target buffer. */

   245

        )

   246

{

   247

    off_t off = 0;

   248

    unsigned int i;

   249

   250

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

   251

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

   252

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

   253

    }

   254

   255

    return off;

   256

}

   257

   258

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

   259

   260

/**

   261

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

   262

 */

   263

int ec_mac_is_zero(

   264

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

   265

        )

   266

{

   267

    unsigned int i;

   268

   269

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

   270

        if (mac[i])

   271

            return 0;

   272

   273

    return 1;

   274

}

   275

   276

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

   277

   278

/**

   279

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

   280

 */

   281

int ec_mac_is_broadcast(

   282

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

   283

        )

   284

{

   285

    unsigned int i;

   286

   287

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

   288

        if (mac[i] != 0xff)

   289

            return 0;

   290

   291

    return 1;

   292

}

   293

   294

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

   295

   296

/** Parse a MAC address from a string.

   297

 *

   298

 * The MAC address must match the regular expression

   299

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

   300

 *

   301

 * \return 0 on success, else < 0

   302

 */

   303

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

   304

{

   305

    unsigned int i, value;

   306

    const char *orig = src;

   307

    char *rem;

   308

   309

    if (!strlen(src)) {

   310

        if (allow_empty){

   311

            return 0;

   312

        } else {

   313

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

   314

            return -EINVAL;

   315

        }

   316

    }

   317

   318

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

   319

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

   320

        if (rem != src + 2

   321

                || value > 0xFF

   322

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

   323

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

   324

            return -EINVAL;

   325

        }

   326

        mac[i] = value;

   327

        if (i < ETH_ALEN - 1) {

   328

            src = rem + 1; // skip colon

   329

        }

   330

    }

   331

   332

    return 0;

   333

}

   334

   335

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

   336

   337

/** Outputs frame contents for debugging purposes.

   338

 * If the data block is larger than 256 bytes, only the first 128

   339

 * and the last 128 bytes will be shown

   340

 */

   341

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

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

   350

   351

        if ((i + 1) % 16 == 0 && i < size - 1) {

   352

            printk("\n");

   353

            EC_DBG("");

   354

        }

   355

   356

        if (i + 1 == 128 && size > 256) {

   357

            printk("dropped %zu bytes\n", size - 128 - i);

   358

            i = size - 128;

   359

            EC_DBG("");

   360

        }

   361

    }

   362

    printk("\n");

   363

}

   364

   365

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

   366

   367

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

   368

 */

   369

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

   370

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

   371

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

   372

                        )

   373

{

   374

    unsigned int i;

   375

   376

    EC_DBG("");

   377

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

   378

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

   379

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

   380

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

   381

            printk("\n");

   382

            EC_DBG("");

   383

        }

   384

    }

   385

    printk("\n");

   386

}

   387

   388

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

   389

   390

/** Prints slave states in clear text.

   391

 */

   392

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

   393

                       char *buffer, /**< target buffer

   394

                                       (min. EC_STATE_STRING_SIZE bytes) */

   395

                       uint8_t multi /**< Show multi-state mask. */

   396

                       )

   397

{

   398

    off_t off = 0;

   399

    unsigned int first = 1;

   400

   401

    if (!states) {

   402

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

   403

        return off;

   404

    }

   405

   406

    if (multi) { // multiple slaves

   407

        if (states & EC_SLAVE_STATE_INIT) {

   408

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

   409

            first = 0;

   410

        }

   411

        if (states & EC_SLAVE_STATE_PREOP) {

   412

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

   413

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

   414

            first = 0;

   415

        }

   416

        if (states & EC_SLAVE_STATE_SAFEOP) {

   417

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

   418

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

   419

            first = 0;

   420

        }

   421

        if (states & EC_SLAVE_STATE_OP) {

   422

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

   423

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

   424

        }

   425

    } else { // single slave

   426

        if ((states & EC_SLAVE_STATE_MASK) == EC_SLAVE_STATE_INIT) {

   427

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

   428

        } else if ((states & EC_SLAVE_STATE_MASK) == EC_SLAVE_STATE_PREOP) {

   429

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

   430

        } else if ((states & EC_SLAVE_STATE_MASK) == EC_SLAVE_STATE_BOOT) {

   431

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

   432

        } else if ((states & EC_SLAVE_STATE_MASK) == EC_SLAVE_STATE_SAFEOP) {

   433

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

   434

        } else if ((states & EC_SLAVE_STATE_MASK) == EC_SLAVE_STATE_OP) {

   435

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

   436

        } else {

   437

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

   438

        }

   439

        first = 0;

   440

    }

   441

   442

    if (states & EC_SLAVE_STATE_ACK_ERR) {

   443

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

   444

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

   445

    }

   446

   447

    return off;

   448

}

   449

   450

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

   451

 *  Device interface

   452

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

   453

   454

/** Device names.

   455

 */

   456

const char *ec_device_names[EC_NUM_DEVICES] = {

   457

    "main",

   458

    "backup"

   459

};

   460

   461

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

   462

 *

   463

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

   464

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

   465

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

   466

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

   467

 *

   468

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

   469

 * \ingroup DeviceInterface

   470

 */

   471

ec_device_t *ecdev_offer(

   472

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

   473

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

   474

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

   475

        )

   476

{

   477

    ec_master_t *master;

   478

    char str[EC_MAX_MAC_STRING_SIZE];

   479

    unsigned int i, j;

   480

   481

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

   482

        master = &masters[i];

   483

        ec_mac_print(net_dev->dev_addr, str);

   484

   485

        down(&master->device_sem);

   486