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/kernel.h>

    42

#include <linux/init.h>

    43

    44

#include "globals.h"

    45

#include "master.h"

    46

#include "device.h"

    47

    48

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

    49

    50

#define MAX_MASTERS 5 /**< Maximum number of masters. */

    51

    52

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

    53

    54

int __init ec_init_module(void);

    55

void __exit ec_cleanup_module(void);

    56

    57

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

    58

    59

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

    60

    61

struct kobject kobj; /**< kobject for master module. */

    62

    63

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

    64

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

    65

    66

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

    67

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

    68

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

    69

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

    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 ec_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

    // init kobject and add it to the hierarchy

   107

    memset(&kobj, 0x00, sizeof(struct kobject));

   108

    kobject_init(&kobj); // no ktype

   109

   110

    if (kobject_set_name(&kobj, "ethercat")) {

   111

        EC_ERR("Failed to set module kobject name.\n");

   112

        ret = -ENOMEM;

   113

        goto out_put;

   114

    }

   115

   116

    if (kobject_add(&kobj)) {

   117

        EC_ERR("Failed to add module kobject.\n");

   118

        ret = -EEXIST;

   119

        goto out_put;

   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

        if (ec_mac_parse(macs[i][0], main_devices[i], 0)) {

   128

            ret = -EINVAL;

   129

            goto out_del;

   130

        }

   131

   132

        if (i < backup_count && ec_mac_parse(macs[i][1], backup_devices[i], 1)) {

   133

            ret = -EINVAL;

   134

            goto out_del;

   135

        }

   136

    }

   137

   138

    if (master_count) {

   139

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

   140

                        GFP_KERNEL))) {

   141

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

   142

            ret = -ENOMEM;

   143

            goto out_del;

   144

        }

   145

    }

   146

   147

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

   148

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

   149

            ret = -EIO;

   150

            goto out_free_masters;

   151

        }

   152

    }

   153

   154

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

   155

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

   156

    return ret;

   157

   158

out_free_masters:

   159

    for (i--; i >= 0; i--) ec_master_clear(&masters[i]);

   160

    kfree(masters);

   161

out_del:

   162

    kobject_del(&kobj);

   163

out_put:

   164

    kobject_put(&kobj);

   165

    return ret;

   166

}

   167

   168

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

   169

   170

/** Module cleanup.

   171

 *

   172

 * Clears all master instances.

   173

 */

   174

void __exit ec_cleanup_module(void)

   175

{

   176

    unsigned int i;

   177

   178

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

   179

        ec_master_clear(&masters[i]);

   180

    }

   181

    if (master_count)

   182

        kfree(masters);

   183

   184

    kobject_del(&kobj);

   185

    kobject_put(&kobj);

   186

   187

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

   188

}

   189

   190

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

   191

 * MAC address functions

   192

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

   193

   194

/**

   195

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

   196

 */

   197

int ec_mac_equal(

   198

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

   199

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

   200

        )

   201

{

   202

    unsigned int i;

   203

   204

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

   205

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

   206

            return 0;

   207

   208

    return 1;

   209

}

   210

   211

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

   212

   213

/** Print a MAC address to a buffer.

   214

 *

   215

 * \return number of bytes written.

   216

 */

   217

ssize_t ec_mac_print(

   218

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

   219

        char *buffer /**< target buffer */

   220

        )

   221

{

   222

    off_t off = 0;

   223

    unsigned int i;

   224

   225

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

   226

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

   227

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

   228

    }

   229

   230

    return off;

   231

}

   232

   233

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

   234

   235

/**

   236

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

   237

 */

   238

int ec_mac_is_zero(

   239

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

   240

        )

   241

{

   242

    unsigned int i;

   243

   244

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

   245

        if (mac[i])

   246

            return 0;

   247

   248

    return 1;

   249

}

   250

   251

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

   252

   253

/**

   254

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

   255

 */

   256

int ec_mac_is_broadcast(

   257

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

   258

        )

   259

{

   260

    unsigned int i;

   261

   262

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

   263

        if (mac[i] != 0xff)

   264

            return 0;

   265

   266

    return 1;

   267

}

   268

   269

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

   270

   271

/** Parse a MAC address from a string.

   272

 *

   273

 * The MAC address must follow the regexp

   274

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

   275

 *

   276

 * \return 0 on success, else < 0

   277

 */

   278

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

   279

{

   280

    unsigned int i, value;

   281

    const char *orig = src;

   282

    char *rem;

   283

   284

    if (!strlen(src)) {

   285

        if (allow_empty){

   286

            return 0;

   287

        }

   288

        else {

   289

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

   290

            return -EINVAL;

   291

        }

   292

    }

   293

   294

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

   295

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

   296

        if (rem != src + 2

   297

                || value > 0xFF

   298

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

   299

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

   300

            return -EINVAL;

   301

        }

   302

        mac[i] = value;

   303

        if (i < ETH_ALEN - 1)

   304

            src = rem + 1; // skip colon

   305

    }

   306

   307

    return 0;

   308

}

   309

   310

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

   311

   312

/** Outputs frame contents for debugging purposes.

   313

 */

   314

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

   315

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

   316

                   )

   317

{

   318

    unsigned int i;

   319

   320

    EC_DBG("");

   321

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

   322

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

   323

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

   324

            printk("\n");

   325

            EC_DBG("");

   326

        }

   327

    }

   328

    printk("\n");

   329

}

   330

   331

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

   332

   333

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

   334

 */

   335

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

   336

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

   337

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

   338

                        )

   339

{

   340

    unsigned int i;

   341

   342

    EC_DBG("");

   343

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

   344

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

   345

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

   346

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

   347

            printk("\n");

   348

            EC_DBG("");

   349

        }

   350

    }

   351

    printk("\n");

   352

}

   353

   354

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

   355

   356

/** Prints slave states in clear text.

   357

 */

   358

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

   359

                       char *buffer /**< target buffer

   360

                                       (min. EC_STATE_STRING_SIZE bytes) */

   361

                       )

   362

{

   363

    off_t off = 0;

   364

    unsigned int first = 1;

   365

   366

    if (!states) {

   367

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

   368

        return off;

   369

    }

   370

   371

    if (states & EC_SLAVE_STATE_INIT) {

   372

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

   373

        first = 0;

   374

    }

   375

    if (states & EC_SLAVE_STATE_PREOP) {

   376

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

   377

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

   378

        first = 0;

   379

    }

   380

    if (states & EC_SLAVE_STATE_SAFEOP) {

   381

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

   382

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

   383

        first = 0;

   384

    }

   385

    if (states & EC_SLAVE_STATE_OP) {

   386

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

   387

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

   388

    }

   389

    if (states & EC_SLAVE_STATE_ACK_ERR) {

   390

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

   391

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

   392

    }

   393

   394

    return off;

   395

}

   396

   397

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

   398

 *  Device interface

   399

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

   400

   401

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

   402

 *

   403

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

   404

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

   405

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

   406

 * newly created EtherCAT device is written to the ecdev pointer, else the

   407

 * pointer is written to zero.

   408

 *

   409

 * \return 0 on success, else < 0

   410

 * \ingroup DeviceInterface

   411

 */

   412

int ecdev_offer(struct net_device *net_dev, /**< net_device to offer */

   413

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

   414

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

   415

        ec_device_t **ecdev /**< pointer to store a device on success */

   416

        )

   417

{

   418

    ec_master_t *master;

   419

    char str[20];

   420

    unsigned int i;

   421

   422

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

   423

        master = &masters[i];

   424

   425

        down(&master->device_sem);

   426

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

   427

            up(&master->device_sem);

   428

            continue;

   429

        }

   430

   431

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

   432

                || ec_mac_is_broadcast(master->main_mac)) {

   433

            ec_mac_print(net_dev->dev_addr, str);

   434

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

   435

                    str, master->index);

   436

   437

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

   438

            up(&master->device_sem);

   439

   440

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

   441

            *ecdev = &master->main_device; // offer accepted

   442

            return 0; // no error

   443

        }

   444

        else {

   445

            up(&master->device_sem);

   446

   447

            if (master->debug_level) {

   448

                ec_mac_print(net_dev->dev_addr, str);

   449

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

   450

            }

   451

        }

   452

    }

   453

   454

    *ecdev = NULL; // offer declined

   455

    return 0; // no error

   456

}

   457

   458

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

   459

   460

/** Withdraws an EtherCAT device from the master.

   461

 *

   462

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

   463

 * are freed.

   464

 *

   465

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

   466

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

   467

 *            any more.

   468

 * \ingroup DeviceInterface

   469

 */

   470

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

   471

{

   472

    ec_master_t *master = device->master;

   473

    char str[20];

   474

   475

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

   476

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

   477

   478

    down(&master->device_sem);

   479

    ec_device_detach(device);

   480

    up(&master->device_sem);

   481

}

   482

   483

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

   484

   485

/** Opens the network device and makes the master enter IDLE mode.

   486

 *

   487

 * \return 0 on success, else < 0

   488

 * \ingroup DeviceInterface