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

     2

 *

     3

 *  $Id$

     4

 *

     5

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

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 *

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 *  This file is part of the IgH EtherCAT Master.

     8

 *

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 *  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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 *

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 *  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

 *

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 *  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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 *

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

    29

    30

/**

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   \file

    32

   EtherCAT device methods.

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*/

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    35

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

    36

    37

#include <linux/module.h>

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#include <linux/skbuff.h>

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#include <linux/if_ether.h>

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#include <linux/netdevice.h>

    41

    42

#include "device.h"

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#include "master.h"

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    45

#ifdef EC_DEBUG_RING

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#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)

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#endif

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    61

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

    62

    63

/** Constructor.

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 * 

    65

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

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 */

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int ec_device_init(

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

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

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        )

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{

    72

    int ret;

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    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

    83

    84

    device->master = master;

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    device->tx_ring_index = 0;

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    87

#ifdef EC_DEBUG_IF

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    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';

    92

    93

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

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    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;

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    }

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#endif

   101

   102

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

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        device->tx_skb[i] = NULL;

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   105

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

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

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

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            ret = -ENOMEM;

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            goto out_tx_ring;

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        }

   111

   112

        // add Ethernet-II-header

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

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

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        eth->h_proto = htons(0x88A4);

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

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    }

   118

   119

    ec_device_detach(device); // resets remaining fields

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    return 0;

   121

   122

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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   133

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

   134

   135

/** Destructor.

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 */

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void ec_device_clear(

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        ec_device_t *device /**< EtherCAT device */

   139

        )

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{

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    unsigned int i;

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    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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   151

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

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   153

/** 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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{

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    unsigned int i;

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    struct ethhdr *eth;

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   165

    ec_device_detach(device); // resets fields

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    device->dev = net_dev;

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    device->poll = poll;

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    device->module = module;

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    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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#ifdef EC_DEBUG_IF

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    ec_debug_register(&device->dbg, net_dev);

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#endif

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}

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   182

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

   183

   184

/** 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 */

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        )

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{

   190

    unsigned int i;

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   192

#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;

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

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/** Opens the EtherCAT device.

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 *

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

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 */

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int ec_device_open(

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        ec_device_t *device /**< EtherCAT device */

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        )

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{

   224

    int ret;

   226

   227

    if (!device->dev) {

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

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        return -ENODEV;

   230

    }

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   232

    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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    device->link_state = 0;

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    device->tx_count = 0;

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    device->rx_count = 0;

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   248

#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

   253

    if (!ret)

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        device->open = 1;

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   256

    return ret;

   257

}

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   259

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

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   261

/** Stops the EtherCAT device.

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 *

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

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 */

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int ec_device_close(

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        ec_device_t *device /**< EtherCAT device */

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        )

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{

   269

    int ret;

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   271

    if (!device->dev) {

   272

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

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        return -ENODEV;

   274

    }

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   276

    if (!device->open) {

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

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        return 0;

   279

    }

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   281

#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

   286

    if (!ret)

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        device->open = 0;

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   289

    return ret;

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}

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

   293

   294

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

   295

 *

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 * \return pointer to the TX socket buffer

   297

 */

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uint8_t *ec_device_tx_data(

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        ec_device_t *device /**< EtherCAT device */

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        )

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{

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    /* 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;

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}

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   310

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

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   312

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

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 *

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 * 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.

   316

 */

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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 */

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        )

   321

{

   322

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

   323

   344

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

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        return;

   346

   347

    // set the right length for the data

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    skb->len = ETH_HLEN + size;

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   350

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

   351

        EC_DBG("Sending frame:\n");

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

   353

    }

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   355

    // start sending

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

   357

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

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            NETDEV_TX_OK)

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#else

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

   361

#endif

   362

    {

   363

        device->tx_count++;

   364

#ifdef EC_DEBUG_IF

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

   366

#endif

   367

#ifdef EC_DEBUG_RING

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        ec_device_debug_ring_append(

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

   370

#endif

   371

    }

   372

}

   373

   374

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

   375

   376

#ifdef EC_DEBUG_RING

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/** Appends frame data to the debug ring.

   378

 */

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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 */

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

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        size_t size /**< data size */

   384

        )

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{

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

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   388

    df->dir = dir;

   389

    if (dir == TX)

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        do_gettimeofday(&df->t);

   391

    else

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        df->t = device->timeval_poll;

   393

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

   394

    df->data_size = size;

   395

   396

    device->debug_frame_index++;

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    device->debug_frame_index %= EC_DEBUG_RING_SIZE;

   398

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

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        device->debug_frame_count++;

   400

}

   401

   402

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

   403

   404

/** Outputs the debug ring.

   405

 */

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void ec_device_debug_ring_print(

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

   408

        )

   409

{

   410

    int i;

   411

    unsigned int ring_index;

   412

    const ec_debug_frame_t *df;

   413

    struct timeval t0, diff;

   414

   415

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

   416

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

   417

        % EC_DEBUG_RING_SIZE;

   418

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

   419

   420

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

   421

   422

    // calculate index of the oldest frame in the ring

   423

    ring_index = (device->debug_frame_index + EC_DEBUG_RING_SIZE

   424

            - device->debug_frame_count) % EC_DEBUG_RING_SIZE;

   425

   426

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

   427

        df = &device->debug_frames[ring_index];

   428

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

   429

   430

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

   431

                i + 1 - device->debug_frame_count,

   432

                (unsigned int) diff.tv_sec,

   433

                (unsigned int) diff.tv_usec,

   434

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

   435

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

   436

   437

        ring_index++;

   438

        ring_index %= EC_DEBUG_RING_SIZE;

   439

    }

   440

}

   441

#endif

   442

   443

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

   444

   445

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

   446

 *

   447

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

   448

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

   449

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

   450

 */

   451

void ec_device_poll(

   452

        ec_device_t *device /**< EtherCAT device */

   453

        )

   454

{

   455

#ifdef EC_HAVE_CYCLES

   456

    device->cycles_poll = get_cycles();

   457

#endif

   458

    device->jiffies_poll = jiffies;

   459

#ifdef EC_DEBUG_RING

   460

    do_gettimeofday(&device->timeval_poll);

   461

#endif

   462

    device->poll(device->dev);

   463

}

   464

   465

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

   466

 *  Device interface

   467

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

   468

   469

/** Withdraws an EtherCAT device from the master.

   470

 *

   471

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

   472

 * are freed.

   473

 *

   474

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

   475

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

   476

 *            any more.

   477

 * \ingroup DeviceInterface

   478

 */

   479

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

   480

{

   481

    ec_master_t *master = device->master;

   482

    char str[20];

   483

   484

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

   485

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

   486

   487

    down(&master->device_sem);