master/ethernet.h
author Florian Pose <fp@igh-essen.com>
Fri, 24 Apr 2009 08:39:20 +0000
changeset 1415 9d1cdbf41247
parent 1363 11c0b2caa253
child 1485 5ddc3a455059
permissions -rw-r--r--
Output reference clock and application time in 'ethercat Master'.
145
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
     1
/******************************************************************************
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
     2
 *
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
     3
 *  $Id$
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
     4
 *
1326
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only.
Florian Pose <fp@igh-essen.com>
parents: 1209
diff changeset
     5
 *  Copyright (C) 2006-2008  Florian Pose, Ingenieurgemeinschaft IgH
197
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
     6
 *
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
     7
 *  This file is part of the IgH EtherCAT Master.
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
     8
 *
1326
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only.
Florian Pose <fp@igh-essen.com>
parents: 1209
diff changeset
     9
 *  The IgH EtherCAT Master is free software; you can redistribute it and/or
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only.
Florian Pose <fp@igh-essen.com>
parents: 1209
diff changeset
    10
 *  modify it under the terms of the GNU General Public License version 2, as
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only.
Florian Pose <fp@igh-essen.com>
parents: 1209
diff changeset
    11
 *  published by the Free Software Foundation.
197
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
    12
 *
1326
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only.
Florian Pose <fp@igh-essen.com>
parents: 1209
diff changeset
    13
 *  The IgH EtherCAT Master is distributed in the hope that it will be useful,
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only.
Florian Pose <fp@igh-essen.com>
parents: 1209
diff changeset
    14
 *  but WITHOUT ANY WARRANTY; without even the implied warranty of
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only.
Florian Pose <fp@igh-essen.com>
parents: 1209
diff changeset
    15
 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only.
Florian Pose <fp@igh-essen.com>
parents: 1209
diff changeset
    16
 *  Public License for more details.
197
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
    17
 *
1326
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only.
Florian Pose <fp@igh-essen.com>
parents: 1209
diff changeset
    18
 *  You should have received a copy of the GNU General Public License along
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only.
Florian Pose <fp@igh-essen.com>
parents: 1209
diff changeset
    19
 *  with the IgH EtherCAT Master; if not, write to the Free Software
197
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
    20
 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
    21
 *
1363
11c0b2caa253 Improved and added license headers.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
    22
 *  ---
11c0b2caa253 Improved and added license headers.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
    23
 *
11c0b2caa253 Improved and added license headers.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
    24
 *  The license mentioned above concerns the source code only. Using the
11c0b2caa253 Improved and added license headers.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
    25
 *  EtherCAT technology and brand is only permitted in compliance with the
11c0b2caa253 Improved and added license headers.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
    26
 *  industrial property and similar rights of Beckhoff Automation GmbH.
246
0bf7c769de06 Changed license headers and added EtherCAT license notice.
Florian Pose <fp@igh-essen.com>
parents: 235
diff changeset
    27
 *
145
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    28
 *****************************************************************************/
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    29
199
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
    30
/**
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
    31
   \file
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
    32
   Ethernet over EtherCAT (EoE)
199
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
    33
*/
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
    34
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
    35
/*****************************************************************************/
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
    36
145
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    37
#include <linux/list.h>
203
c1f305e339c6 EoE net_device implementation.
Florian Pose <fp@igh-essen.com>
parents: 199
diff changeset
    38
#include <linux/netdevice.h>
145
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    39
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    40
#include "globals.h"
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    41
#include "slave.h"
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 286
diff changeset
    42
#include "datagram.h"
145
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    43
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    44
/*****************************************************************************/
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    45
197
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
    46
/**
217
dcfd406e7786 EoE - TX fragmenting works. TCP traffic possible.
Florian Pose <fp@igh-essen.com>
parents: 214
diff changeset
    47
   Queued frame structure.
dcfd406e7786 EoE - TX fragmenting works. TCP traffic possible.
Florian Pose <fp@igh-essen.com>
parents: 214
diff changeset
    48
*/
dcfd406e7786 EoE - TX fragmenting works. TCP traffic possible.
Florian Pose <fp@igh-essen.com>
parents: 214
diff changeset
    49
dcfd406e7786 EoE - TX fragmenting works. TCP traffic possible.
Florian Pose <fp@igh-essen.com>
parents: 214
diff changeset
    50
typedef struct
dcfd406e7786 EoE - TX fragmenting works. TCP traffic possible.
Florian Pose <fp@igh-essen.com>
parents: 214
diff changeset
    51
{
dcfd406e7786 EoE - TX fragmenting works. TCP traffic possible.
Florian Pose <fp@igh-essen.com>
parents: 214
diff changeset
    52
    struct list_head queue; /**< list item */
dcfd406e7786 EoE - TX fragmenting works. TCP traffic possible.
Florian Pose <fp@igh-essen.com>
parents: 214
diff changeset
    53
    struct sk_buff *skb; /**< socket buffer */
dcfd406e7786 EoE - TX fragmenting works. TCP traffic possible.
Florian Pose <fp@igh-essen.com>
parents: 214
diff changeset
    54
}
dcfd406e7786 EoE - TX fragmenting works. TCP traffic possible.
Florian Pose <fp@igh-essen.com>
parents: 214
diff changeset
    55
ec_eoe_frame_t;
dcfd406e7786 EoE - TX fragmenting works. TCP traffic possible.
Florian Pose <fp@igh-essen.com>
parents: 214
diff changeset
    56
dcfd406e7786 EoE - TX fragmenting works. TCP traffic possible.
Florian Pose <fp@igh-essen.com>
parents: 214
diff changeset
    57
/*****************************************************************************/
dcfd406e7786 EoE - TX fragmenting works. TCP traffic possible.
Florian Pose <fp@igh-essen.com>
parents: 214
diff changeset
    58
286
f3352378b4d4 Added missing documentation.
Florian Pose <fp@igh-essen.com>
parents: 279
diff changeset
    59
typedef struct ec_eoe ec_eoe_t; /**< \see ec_eoe */
218
80fb87518f3d EoE: State machine with function pointers, documentation.
Florian Pose <fp@igh-essen.com>
parents: 217
diff changeset
    60
217
dcfd406e7786 EoE - TX fragmenting works. TCP traffic possible.
Florian Pose <fp@igh-essen.com>
parents: 214
diff changeset
    61
/**
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
    62
   Ethernet over EtherCAT (EoE) handler.
197
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
    63
   The master creates one of these objects for each slave that supports the
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
    64
   EoE protocol.
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
    65
*/
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
    66
218
80fb87518f3d EoE: State machine with function pointers, documentation.
Florian Pose <fp@igh-essen.com>
parents: 217
diff changeset
    67
struct ec_eoe
145
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    68
{
197
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
    69
    struct list_head list; /**< list item */
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
    70
    ec_slave_t *slave; /**< pointer to the corresponding slave */
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 286
diff changeset
    71
    ec_datagram_t datagram; /**< datagram */
721
ebc2fd3e09e5 Improved EoE handling: Avoided skipping of datagrams and release lock
Florian Pose <fp@igh-essen.com>
parents: 661
diff changeset
    72
    unsigned int queue_datagram; /**< the datagram is ready for queuing */
218
80fb87518f3d EoE: State machine with function pointers, documentation.
Florian Pose <fp@igh-essen.com>
parents: 217
diff changeset
    73
    void (*state)(ec_eoe_t *); /**< state function for the state machine */
203
c1f305e339c6 EoE net_device implementation.
Florian Pose <fp@igh-essen.com>
parents: 199
diff changeset
    74
    struct net_device *dev; /**< net_device for virtual ethernet device */
218
80fb87518f3d EoE: State machine with function pointers, documentation.
Florian Pose <fp@igh-essen.com>
parents: 217
diff changeset
    75
    struct net_device_stats stats; /**< device statistics */
235
f973808540a6 No master locking, if no EoE devices are "up".
Florian Pose <fp@igh-essen.com>
parents: 218
diff changeset
    76
    unsigned int opened; /**< net_device is opened */
344
5d8281f1aa2a Replaced longer cycle timestamps with jiffies.
Florian Pose <fp@igh-essen.com>
parents: 339
diff changeset
    77
    unsigned long rate_jiffies; /**< time of last rate output */
218
80fb87518f3d EoE: State machine with function pointers, documentation.
Florian Pose <fp@igh-essen.com>
parents: 217
diff changeset
    78
    struct sk_buff *rx_skb; /**< current rx socket buffer */
80fb87518f3d EoE: State machine with function pointers, documentation.
Florian Pose <fp@igh-essen.com>
parents: 217
diff changeset
    79
    off_t rx_skb_offset; /**< current write pointer in the socket buffer */
80fb87518f3d EoE: State machine with function pointers, documentation.
Florian Pose <fp@igh-essen.com>
parents: 217
diff changeset
    80
    size_t rx_skb_size; /**< size of the allocated socket buffer memory */
80fb87518f3d EoE: State machine with function pointers, documentation.
Florian Pose <fp@igh-essen.com>
parents: 217
diff changeset
    81
    uint8_t rx_expected_fragment; /**< next expected fragment number */
339
a3a4ee854bd8 Minor changes.
Florian Pose <fp@igh-essen.com>
parents: 336
diff changeset
    82
    uint32_t rx_counter; /**< octets received during last second */
a3a4ee854bd8 Minor changes.
Florian Pose <fp@igh-essen.com>
parents: 336
diff changeset
    83
    uint32_t rx_rate; /**< receive rate (bps) */
212
82980deb8b00 moved stats into eoe struct; persistent rx-skb; tx queue.
Florian Pose <fp@igh-essen.com>
parents: 210
diff changeset
    84
    struct list_head tx_queue; /**< queue for frames to send */
214
8beb86af5ed0 EoE frame queuing, receiving of fragmented frames; no TCP possible yet.
Florian Pose <fp@igh-essen.com>
parents: 212
diff changeset
    85
    unsigned int tx_queue_active; /**< kernel netif queue started */
218
80fb87518f3d EoE: State machine with function pointers, documentation.
Florian Pose <fp@igh-essen.com>
parents: 217
diff changeset
    86
    unsigned int tx_queued_frames; /**< number of frames in the queue */
212
82980deb8b00 moved stats into eoe struct; persistent rx-skb; tx queue.
Florian Pose <fp@igh-essen.com>
parents: 210
diff changeset
    87
    spinlock_t tx_queue_lock; /**< spinlock for the send queue */
217
dcfd406e7786 EoE - TX fragmenting works. TCP traffic possible.
Florian Pose <fp@igh-essen.com>
parents: 214
diff changeset
    88
    ec_eoe_frame_t *tx_frame; /**< current TX frame */
dcfd406e7786 EoE - TX fragmenting works. TCP traffic possible.
Florian Pose <fp@igh-essen.com>
parents: 214
diff changeset
    89
    uint8_t tx_frame_number; /**< number of the transmitted frame */
dcfd406e7786 EoE - TX fragmenting works. TCP traffic possible.
Florian Pose <fp@igh-essen.com>
parents: 214
diff changeset
    90
    uint8_t tx_fragment_number; /**< number of the fragment */
218
80fb87518f3d EoE: State machine with function pointers, documentation.
Florian Pose <fp@igh-essen.com>
parents: 217
diff changeset
    91
    size_t tx_offset; /**< number of octets sent */
336
360e5287c888 EoE rate statistics.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
    92
    uint32_t tx_counter; /**< octets transmitted during last second */
360e5287c888 EoE rate statistics.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
    93
    uint32_t tx_rate; /**< transmit rate (bps) */
218
80fb87518f3d EoE: State machine with function pointers, documentation.
Florian Pose <fp@igh-essen.com>
parents: 217
diff changeset
    94
};
145
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    95
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    96
/*****************************************************************************/
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    97
661
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 344
diff changeset
    98
int ec_eoe_init(ec_eoe_t *, ec_slave_t *);
145
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    99
void ec_eoe_clear(ec_eoe_t *);
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   100
void ec_eoe_run(ec_eoe_t *);
721
ebc2fd3e09e5 Improved EoE handling: Avoided skipping of datagrams and release lock
Florian Pose <fp@igh-essen.com>
parents: 661
diff changeset
   101
void ec_eoe_queue(ec_eoe_t *);
661
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 344
diff changeset
   102
int ec_eoe_is_open(const ec_eoe_t *);
145
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   103
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   104
/*****************************************************************************/