| author | Florian Pose <fp@igh-essen.com> |
| Fri, 28 Oct 2005 15:12:27 +0000 | |
| changeset 2 | b0a7a4745bf9 |
| parent 0 | 05c992bf5847 |
| child 5 | 6f2508af550c |
| permissions | -rw-r--r-- |
| 0 | 1 |
/**************************************************************** |
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* |
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* e c _ d e v i c e . c |
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* |
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* Methoden für ein EtherCAT-Gerät. |
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* |
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* $Date$ |
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* $Author$ |
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* |
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***************************************************************/ |
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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> |
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#include <rtai.h> |
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2
b0a7a4745bf9
?nderungen an no_rtai r110:110 in drivers gemergt.
Florian Pose <fp@igh-essen.com>
parents:
0
diff
changeset
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#include <linux/delay.h> |
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#include "ec_device.h" |
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#include "ec_dbg.h" |
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/***************************************************************/ |
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/** |
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EtherCAT-Geräte-Konstuktor. |
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Initialisiert ein EtherCAT-Gerät, indem es die Variablen |
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in der Struktur auf die Default-Werte setzt. |
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@param ecd Zu initialisierendes EtherCAT-Gerät |
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*/ |
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void EtherCAT_device_init(EtherCAT_device_t *ecd) |
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{
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ecd->dev = NULL; |
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ecd->tx_skb = NULL; |
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ecd->rx_skb = NULL; |
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ecd->tx_time = 0; |
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ecd->rx_time = 0; |
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ecd->tx_intr_cnt = 0; |
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ecd->rx_intr_cnt = 0; |
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ecd->intr_cnt = 0; |
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ecd->state = ECAT_DS_READY; |
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ecd->rx_data_length = 0; |
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ecd->lock = NULL; |
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} |
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/***************************************************************/ |
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/** |
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EtherCAT-Geräte-Destuktor. |
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Gibt den dynamisch allozierten Speicher des |
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EtherCAT-Gerätes (die beiden Socket-Buffer) wieder frei. |
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@param ecd EtherCAT-Gerät |
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*/ |
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void EtherCAT_device_clear(EtherCAT_device_t *ecd) |
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{
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ecd->dev = NULL; |
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if (ecd->tx_skb) |
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{
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dev_kfree_skb(ecd->tx_skb); |
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ecd->tx_skb = NULL; |
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} |
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if (ecd->rx_skb) |
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{
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dev_kfree_skb(ecd->rx_skb); |
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ecd->rx_skb = NULL; |
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} |
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} |
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/***************************************************************/ |
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/** |
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Weist einem EtherCAT-Gerät das entsprechende net_device zu. |
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Prüft das net_device, allokiert Socket-Buffer in Sende- und |
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Empfangsrichtung und weist dem EtherCAT-Gerät und den |
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Socket-Buffern das net_device zu. |
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@param ecd EtherCAT-Device |
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@param dev net_device |
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@return 0: Erfolg, < 0: Konnte Socket-Buffer nicht allozieren. |
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*/ |
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int EtherCAT_device_assign(EtherCAT_device_t *ecd, |
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struct net_device *dev) |
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{
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if (!dev) |
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{
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EC_DBG("EtherCAT: Device is NULL!\n");
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return -1; |
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} |
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if ((ecd->tx_skb = dev_alloc_skb(ECAT_FRAME_BUFFER_SIZE)) == NULL) |
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{
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EC_DBG(KERN_ERR "EtherCAT: Could not allocate device tx socket buffer!\n"); |
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return -1; |
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} |
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if ((ecd->rx_skb = dev_alloc_skb(ECAT_FRAME_BUFFER_SIZE)) == NULL) |
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{
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dev_kfree_skb(ecd->tx_skb); |
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ecd->tx_skb = NULL; |
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EC_DBG(KERN_ERR "EtherCAT: Could not allocate device rx socket buffer!\n"); |
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return -1; |
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} |
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ecd->dev = dev; |
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ecd->tx_skb->dev = dev; |
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ecd->rx_skb->dev = dev; |
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EC_DBG("EtherCAT: Assigned Device %X.\n", (unsigned) dev);
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return 0; |
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} |
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/***************************************************************/ |
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/** |
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Führt die open()-Funktion des Netzwerktreibers aus. |
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Dies entspricht einem "ifconfig up". Vorher wird der Zeiger |
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auf das EtherCAT-Gerät auf Gültigkeit geprüft und der |
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Gerätezustand zurückgesetzt. |
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@param ecd EtherCAT-Gerät |
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@return 0 bei Erfolg, < 0: Ungültiger Zeiger, oder open() |
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fehlgeschlagen |
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*/ |
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int EtherCAT_device_open(EtherCAT_device_t *ecd) |
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{
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if (!ecd) |
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{
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EC_DBG(KERN_ERR "EtherCAT: Trying to open a NULL device!\n"); |
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return -1; |
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} |
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if (!ecd->dev) |
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{
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EC_DBG(KERN_ERR "EtherCAT: No device to open!\n"); |
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return -1; |
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} |
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// Reset old device state |
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ecd->state = ECAT_DS_READY; |
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ecd->tx_intr_cnt = 0; |
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ecd->rx_intr_cnt = 0; |
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return ecd->dev->open(ecd->dev); |
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} |
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/***************************************************************/ |
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/** |
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Führt die stop()-Funktion des net_devices aus. |
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@param ecd EtherCAT-Gerät |
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@return 0 bei Erfolg, < 0: Kein Gerät zum Schliessen |
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*/ |
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int EtherCAT_device_close(EtherCAT_device_t *ecd) |
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{
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if (!ecd->dev) |
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{
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EC_DBG("EtherCAT: No device to close!\n");
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return -1; |
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} |
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EC_DBG("EtherCAT: txcnt: %u, rxcnt: %u\n",
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(unsigned int) ecd->tx_intr_cnt, |
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(unsigned int) ecd->rx_intr_cnt); |
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EC_DBG("EtherCAT: Stopping device at 0x%X\n",
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(unsigned int) ecd->dev); |
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return ecd->dev->stop(ecd->dev); |
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} |
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/***************************************************************/ |
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/** |
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Sendet einen Rahmen über das EtherCAT-Gerät. |
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Kopiert die zu sendenden Daten in den statischen Socket- |
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Buffer, fügt den Ethernat-II-Header hinzu und ruft die |
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start_xmit()-Funktion der Netzwerkkarte auf. |
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@param ecd EtherCAT-Gerät |
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@param data Zeiger auf die zu sendenden Daten |
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@param length Länge der zu sendenden Daten |
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@return 0 bei Erfolg, < 0: Vorheriger Rahmen noch |
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nicht empfangen, oder kein Speicher mehr vorhanden |
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*/ |
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int EtherCAT_device_send(EtherCAT_device_t *ecd, |
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unsigned char *data, |
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unsigned int length) |
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{
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unsigned char *frame_data; |
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struct ethhdr *eth; |
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if (ecd->state == ECAT_DS_SENT) |
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{
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EC_DBG(KERN_ERR "EtherCAT: Trying to send frame while last was not received!\n"); |
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return -1; |
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} |
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skb_trim(ecd->tx_skb, 0); // Clear transmit socket buffer |
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skb_reserve(ecd->tx_skb, ETH_HLEN); // Reserve space for Ethernet-II header |
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// Copy data to socket buffer |
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frame_data = skb_put(ecd->tx_skb, length); |
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memcpy(frame_data, data, length); |
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// Add Ethernet-II-Header |
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if ((eth = (struct ethhdr *) skb_push(ecd->tx_skb, ETH_HLEN)) == NULL) |
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{
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EC_DBG(KERN_ERR "EtherCAT: device_send - Could not allocate Ethernet-II header!\n"); |
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return -1; |
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} |
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eth->h_proto = htons(0x88A4); // Protocol type |
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memcpy(eth->h_source, ecd->dev->dev_addr, ecd->dev->addr_len); // Hardware address |
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memset(eth->h_dest, 0xFF, ecd->dev->addr_len); // Broadcast address |
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rdtscl(ecd->tx_time); // Get CPU cycles |
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// Start sending of frame |
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ecd->state = ECAT_DS_SENT; |
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ecd->dev->hard_start_xmit(ecd->tx_skb, ecd->dev); |
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2
b0a7a4745bf9
?nderungen an no_rtai r110:110 in drivers gemergt.
Florian Pose <fp@igh-essen.com>
parents:
0
diff
changeset
|
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| 0 | 242 |
return 0; |
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} |
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/***************************************************************/ |
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/** |
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Holt einen empfangenen Rahmen von der Netzwerkkarte. |
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Zuerst wird geprüft, ob überhaupt ein Rahmen empfangen |
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wurde. Wenn ja, wird diesem mit Hilfe eines Spin-Locks |
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in den angegebenen Speicherbereich kopiert. |
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@param ecd EtherCAT-Gerät |
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@param data Zeiger auf den Speicherbereich, in den die |
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empfangenen Daten kopiert werden sollen |
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@param size Größe des angegebenen Speicherbereichs |
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@return Anzahl der kopierten Bytes bei Erfolg, sonst < 0 |
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*/ |
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int EtherCAT_device_receive(EtherCAT_device_t *ecd, |
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unsigned char *data, |
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unsigned int size) |
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{
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int cnt; |
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2
b0a7a4745bf9
?nderungen an no_rtai r110:110 in drivers gemergt.
Florian Pose <fp@igh-essen.com>
parents:
0
diff
changeset
|
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if (ecd->state != ECAT_DS_RECEIVED) |
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{
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EC_DBG(KERN_ERR "EtherCAT: receive - Nothing received!\n"); |
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return -1; |
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} |
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cnt = min(ecd->rx_data_length, size); |
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memcpy(data,ecd->rx_data, cnt); |
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return cnt; |
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} |
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/***************************************************************/ |
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/** |
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Gibt alle Informationen über das Device-Objekt aus. |
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@param ecd EtherCAT-Gerät |
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*/ |
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void EtherCAT_device_debug(EtherCAT_device_t *ecd) |
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{
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EC_DBG(KERN_DEBUG "---EtherCAT device information begin---\n"); |
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if (ecd) |
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{
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EC_DBG(KERN_DEBUG "Assigned net_device: %X\n", (unsigned) ecd->dev); |
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EC_DBG(KERN_DEBUG "Transmit socket buffer: %X\n", (unsigned) ecd->tx_skb); |
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EC_DBG(KERN_DEBUG "Receive socket buffer: %X\n", (unsigned) ecd->rx_skb); |
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EC_DBG(KERN_DEBUG "Time of last transmission: %u\n", (unsigned) ecd->tx_time); |
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EC_DBG(KERN_DEBUG "Time of last receive: %u\n", (unsigned) ecd->rx_time); |
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EC_DBG(KERN_DEBUG "Number of transmit interrupts: %u\n", (unsigned) ecd->tx_intr_cnt); |
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EC_DBG(KERN_DEBUG "Number of receive interrupts: %u\n", (unsigned) ecd->rx_intr_cnt); |
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EC_DBG(KERN_DEBUG "Total Number of interrupts: %u\n", (unsigned) ecd->intr_cnt); |
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EC_DBG(KERN_DEBUG "Actual device state: %i\n", (int) ecd->state); |
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EC_DBG(KERN_DEBUG "Receive buffer: %X\n", (unsigned) ecd->rx_data); |
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EC_DBG(KERN_DEBUG "Receive buffer fill state: %u/%u\n", |
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(unsigned) ecd->rx_data_length, ECAT_FRAME_BUFFER_SIZE); |
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EC_DBG(KERN_DEBUG "Lock: %X\n", (unsigned) ecd->lock); |
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} |
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else |
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{
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EC_DBG(KERN_DEBUG "Device is NULL!\n"); |
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} |
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EC_DBG(KERN_DEBUG "---EtherCAT device information end---\n"); |
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} |
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/***************************************************************/ |