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

    // initialize static master variables

   137

    ec_master_init_static();

   138

   139

    if (master_count) {

   140

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

   141

                        GFP_KERNEL))) {

   142

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

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            ret = -ENOMEM;

   144

            goto out_class;

   145

        }

   146

    }

   147

   148

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

   149

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

   150

                    device_number, class)) {

   151

            ret = -ENOMEM;

   152

            goto out_free_masters;

   153

        }

   154

    }

   155

   156

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

   157

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

   158

    return ret;

   159

   160

out_free_masters:

   161

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

   162

        ec_master_clear(&masters[i]);

   163

    kfree(masters);

   164

out_class:

   165

    class_destroy(class);

   166

out_cdev:

   167

    if (master_count)

   168

        unregister_chrdev_region(device_number, master_count);

   169

out_return:

   170

    return ret;

   171

}

   172

   173

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

   174

   175

/** Module cleanup.

   176

 *

   177

 * Clears all master instances.

   178

 */

   179

void __exit ec_cleanup_module(void)

   180

{

   181

    unsigned int i;

   182

   183

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

   184

        ec_master_clear(&masters[i]);

   185

    }

   186

   187

    if (master_count)

   188

        kfree(masters);

   189

   190

    class_destroy(class);

   191

   192

    if (master_count)

   193

        unregister_chrdev_region(device_number, master_count);

   194

   195

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

   196

}

   197

   198

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

   199

 * MAC address functions

   200

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

   201

   202

/**

   203

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

   204

 */

   205

int ec_mac_equal(

   206

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

   207

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

   208

        )

   209

{

   210

    unsigned int i;

   211

   212

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

   213

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

   214

            return 0;

   215

   216

    return 1;

   217

}

   218

   219

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

   220

   221

/** Print a MAC address to a buffer.

   222

 *

   223

 * \return number of bytes written.

   224

 */

   225

ssize_t ec_mac_print(

   226

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

   227

        char *buffer /**< target buffer */

   228

        )

   229

{

   230

    off_t off = 0;

   231

    unsigned int i;

   232

   233

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

   234

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

   235

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

   236

    }

   237

   238

    return off;

   239

}

   240

   241

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

   242

   243

/**

   244

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

   245

 */

   246

int ec_mac_is_zero(

   247

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

   248

        )

   249

{

   250

    unsigned int i;

   251

   252

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

   253

        if (mac[i])

   254

            return 0;

   255

   256

    return 1;

   257

}

   258

   259

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

   260

   261

/**

   262

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

   263

 */

   264

int ec_mac_is_broadcast(

   265

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

   266

        )

   267

{

   268

    unsigned int i;

   269

   270

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

   271

        if (mac[i] != 0xff)

   272

            return 0;

   273

   274

    return 1;

   275

}

   276

   277

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

   278

   279

/** Parse a MAC address from a string.

   280

 *

   281

 * The MAC address must follow the regexp

   282

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

   283

 *

   284

 * \return 0 on success, else < 0

   285

 */

   286

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

   287

{

   288

    unsigned int i, value;

   289

    const char *orig = src;

   290

    char *rem;

   291

   292

    if (!strlen(src)) {

   293

        if (allow_empty){

   294

            return 0;

   295

        }

   296

        else {

   297

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

   298

            return -EINVAL;

   299

        }

   300

    }

   301

   302

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

   303

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

   304

        if (rem != src + 2

   305

                || value > 0xFF

   306

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

   307

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

   308

            return -EINVAL;

   309

        }

   310

        mac[i] = value;

   311

        if (i < ETH_ALEN - 1)

   312

            src = rem + 1; // skip colon

   313

    }

   314

   315

    return 0;

   316

}

   317

   318

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

   319

   320

/** Outputs frame contents for debugging purposes.

   321

 */

   322

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

   323

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

   324

                   )

   325

{

   326

    unsigned int i;

   327

   328

    EC_DBG("");

   329

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

   330

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

   331

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

   332

            printk("\n");

   333

            EC_DBG("");

   334

        }

   335

    }

   336

    printk("\n");

   337

}

   338

   339

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

   340

   341

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

   342

 */

   343

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

   344

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

   345

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

   346

                        )

   347

{

   348

    unsigned int i;

   349

   350

    EC_DBG("");

   351

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

   352

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

   353

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

   354

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

   355

            printk("\n");

   356

            EC_DBG("");

   357

        }

   358

    }

   359

    printk("\n");

   360

}

   361

   362

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

   363

   364

/** Prints slave states in clear text.

   365

 */

   366

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

   367

                       char *buffer /**< target buffer

   368

                                       (min. EC_STATE_STRING_SIZE bytes) */

   369

                       )

   370

{

   371

    off_t off = 0;

   372

    unsigned int first = 1;

   373

   374

    if (!states) {

   375

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

   376

        return off;

   377

    }

   378

   379

    if (states & EC_SLAVE_STATE_INIT) {

   380

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

   381

        first = 0;

   382

    }

   383

    if (states & EC_SLAVE_STATE_PREOP) {

   384

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

   385

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

   386

        first = 0;

   387

    }

   388

    if (states & EC_SLAVE_STATE_SAFEOP) {

   389

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

   390

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

   391

        first = 0;

   392

    }

   393

    if (states & EC_SLAVE_STATE_OP) {

   394

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

   395

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

   396

    }

   397

    if (states & EC_SLAVE_STATE_ACK_ERR) {

   398

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

   399

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

   400

    }

   401

   402

    return off;

   403

}

   404

   405

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

   406

 *  Device interface

   407

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

   408

   409

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

   410

 *

   411

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

   412

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

   413

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

   414

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

   415

 *

   416

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

   417

 * \ingroup DeviceInterface

   418

 */

   419

ec_device_t *ecdev_offer(

   420

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

   421

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

   422

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

   423

        )

   424

{

   425

    ec_master_t *master;

   426

    char str[20];

   427

    unsigned int i;

   428

   429

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

   430

        master = &masters[i];

   431

   432

        down(&master->device_sem);

   433

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

   434

            up(&master->device_sem);

   435

            continue;

   436

        }

   437

   438

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

   439

                || ec_mac_is_broadcast(master->main_mac)) {

   440

            ec_mac_print(net_dev->dev_addr, str);

   441

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

   442

                    str, master->index);

   443

   444

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

   445

            up(&master->device_sem);

   446

   447

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

   448

            return &master->main_device; // offer accepted

   449

        }

   450

        else {

   451

            up(&master->device_sem);

   452

   453

            if (master->debug_level) {

   454

                ec_mac_print(net_dev->dev_addr, str);

   455

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

   456

            }

   457

        }

   458

    }

   459

   460

    return NULL; // offer declined

   461

}

   462

   463

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

   464

 *  Realtime interface

   465

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

   466

   467

ec_master_t *ecrt_request_master(unsigned int master_index)

   468

{

   469

    ec_master_t *master;

   470

   471

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

   472

   473

    if (master_index >= master_count) {

   474

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

   475

        goto out_return;

   476

    }

   477

    master = &masters[master_index];

   478

   479

    if (down_interruptible(&master_sem))

   480

        goto out_return;

   481

   482

    if (master->reserved) {

   483

        up(&master_sem);

   484

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

   485

        goto out_return;

   486

    }