1

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

     2

 *

     3

 *  $Id$

     4

 *

     5

 *  Copyright (C) 2006-2008  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 and/or

    10

 *  modify it under the terms of the GNU General Public License version 2, as

    11

 *  published by the Free Software Foundation.

    12

 *

    13

 *  The IgH EtherCAT Master is distributed in the hope that it will be useful,

    14

 *  but WITHOUT ANY WARRANTY; without even the implied warranty of

    15

 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General

    16

 *  Public License for more details.

    17

 *

    18

 *  You should have received a copy of the GNU General Public License along

    19

 *  with the IgH EtherCAT Master; if not, write to the Free Software

    20

 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA

    21

 *

    22

 *  ---

    23

 *

    24

 *  The license mentioned above concerns the source code only. Using the

    25

 *  EtherCAT technology and brand is only permitted in compliance with the

    26

 *  industrial property and similar rights of Beckhoff Automation GmbH.

    27

 *

    28

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

    29

    30

/**

    31

   \file

    32

   EtherCAT device methods.

    33

*/

    34

    35

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

    36

    37

#include <linux/module.h>

    38

#include <linux/skbuff.h>

    39

#include <linux/if_ether.h>

    40

#include <linux/netdevice.h>

    41

    42

#include "device.h"

    43

#include "master.h"

    44

    45

#ifdef EC_DEBUG_RING

    46

#define timersub(a, b, result) \

    47

    do { \

    48

        (result)->tv_sec = (a)->tv_sec - (b)->tv_sec; \

    49

        (result)->tv_usec = (a)->tv_usec - (b)->tv_usec; \

    50

        if ((result)->tv_usec < 0) { \

    51

            --(result)->tv_sec; \

    52

            (result)->tv_usec += 1000000; \

    53

        } \

    54

    } while (0)

    55

#endif

    56

    57

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

    58

    59

/** Constructor.

    60

 * 

    61

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

    62

 */

    63

int ec_device_init(

    64

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

    65

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

    66

        )

    67

{

    68

    int ret;

    69

    unsigned int i;

    70

    struct ethhdr *eth;

    71

#ifdef EC_DEBUG_IF

    72

    char ifname[10];

    73

    char mb = 'x';

    74

#endif

    75

#ifdef EC_DEBUG_RING

    76

    device->debug_frame_index = 0;

    77

    device->debug_frame_count = 0;

    78

#endif

    79

    80

    device->master = master;

    81

    device->tx_ring_index = 0;

    82

    83

#ifdef EC_DEBUG_IF

    84

    if (device == &master->main_device)

    85

        mb = 'm';

    86

    else if (device == &master->backup_device)

    87

        mb = 'b';

    88

    89

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

    90

    91

    ret = ec_debug_init(&device->dbg, ifname);

    92

    if (ret < 0) {

    93

        EC_ERR("Failed to init debug device!\n");

    94

        goto out_return;

    95

    }

    96

#endif

    97

    98

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

    99

        device->tx_skb[i] = NULL;

   100

   101

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

   102

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

   103

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

   104

            ret = -ENOMEM;

   105

            goto out_tx_ring;

   106

        }

   107

   108

        // add Ethernet-II-header

   109

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

   110

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

   111

        eth->h_proto = htons(0x88A4);

   112

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

   113

    }

   114

   115

    ec_device_detach(device); // resets remaining fields

   116

    return 0;

   117

   118

out_tx_ring:

   119

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

   120

        if (device->tx_skb[i])

   121

            dev_kfree_skb(device->tx_skb[i]);

   122

#ifdef EC_DEBUG_IF

   123

    ec_debug_clear(&device->dbg);

   124

out_return:

   125

#endif

   126

    return ret;

   127

}

   128

   129

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

   130

   131

/** Destructor.

   132

 */

   133

void ec_device_clear(

   134

        ec_device_t *device /**< EtherCAT device */

   135

        )

   136

{

   137

    unsigned int i;

   138

   139

    if (device->open) ec_device_close(device);

   140

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

   141

        dev_kfree_skb(device->tx_skb[i]);

   142

#ifdef EC_DEBUG_IF

   143

    ec_debug_clear(&device->dbg);

   144

#endif

   145

}

   146

   147

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

   148

   149

/** Associate with net_device.

   150

 */

   151

void ec_device_attach(

   152

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

   153

        struct net_device *net_dev, /**< net_device structure */

   154

        ec_pollfunc_t poll, /**< pointer to device's poll function */

   155

        struct module *module /**< the device's module */

   156

        )

   157

{

   158

    unsigned int i;

   159

    struct ethhdr *eth;

   160

   161

    ec_device_detach(device); // resets fields

   162

   163

    device->dev = net_dev;

   164

    device->poll = poll;

   165

    device->module = module;

   166

   167

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

   168

        device->tx_skb[i]->dev = net_dev;

   169

        eth = (struct ethhdr *) (device->tx_skb[i]->data);

   170

        memcpy(eth->h_source, net_dev->dev_addr, ETH_ALEN);

   171

    }

   172

   173

#ifdef EC_DEBUG_IF

   174

    ec_debug_register(&device->dbg, net_dev);

   175

#endif

   176

}

   177

   178

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

   179

   180

/** Disconnect from net_device.

   181

 */

   182

void ec_device_detach(

   183

        ec_device_t *device /**< EtherCAT device */

   184

        )

   185

{

   186

    unsigned int i;

   187

   188

#ifdef EC_DEBUG_IF

   189

    ec_debug_unregister(&device->dbg);

   190

#endif

   191

   192

    device->dev = NULL;

   193

    device->poll = NULL;

   194

    device->module = NULL;

   195

    device->open = 0;

   196

    device->link_state = 0; // down

   197

    device->tx_count = 0;

   198

    device->rx_count = 0;

   199

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

   200

        device->tx_skb[i]->dev = NULL;

   201

}

   202

   203

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

   204

   205

/** Opens the EtherCAT device.

   206

 *

   207

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

   208

 */

   209

int ec_device_open(

   210

        ec_device_t *device /**< EtherCAT device */

   211

        )

   212

{

   213

    int ret;

   214

   215

    if (!device->dev) {

   216

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

   217

        return -ENODEV;

   218

    }

   219

   220

    if (device->open) {

   221

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

   222

        return 0;

   223

    }

   224

   225

    device->link_state = 0;

   226

    device->tx_count = 0;

   227

    device->rx_count = 0;

   228

   229

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

   230

    ret = device->dev->netdev_ops->ndo_open(device->dev);

   231

#else

   232

    ret = device->dev->open(device->dev);

   233

#endif

   234

    if (!ret)

   235

        device->open = 1;

   236

   237

    return ret;

   238

}

   239

   240

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

   241

   242

/** Stops the EtherCAT device.

   243

 *

   244

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

   245

 */

   246

int ec_device_close(

   247

        ec_device_t *device /**< EtherCAT device */

   248

        )

   249

{

   250

    int ret;

   251

   252

    if (!device->dev) {

   253

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

   254

        return -ENODEV;

   255

    }

   256

   257

    if (!device->open) {

   258

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

   259

        return 0;

   260

    }

   261

   262

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

   263

    ret = device->dev->netdev_ops->ndo_stop(device->dev);

   264

#else

   265

    ret = device->dev->stop(device->dev);

   266

#endif

   267

    if (!ret)

   268

        device->open = 0;

   269

   270

    return ret;

   271

}

   272

   273

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

   274

   275

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

   276

 *

   277

 * \return pointer to the TX socket buffer

   278

 */

   279

uint8_t *ec_device_tx_data(

   280

        ec_device_t *device /**< EtherCAT device */

   281

        )

   282

{

   283

    /* cycle through socket buffers, because otherwise there is a race

   284

     * condition, if multiple frames are sent and the DMA is not scheduled in

   285

     * between. */

   286

    device->tx_ring_index++;

   287

    device->tx_ring_index %= EC_TX_RING_SIZE;

   288

    return device->tx_skb[device->tx_ring_index]->data + ETH_HLEN;

   289

}

   290

   291

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

   292

   293

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

   294

 *

   295

 * Cuts the socket buffer content to the (now known) size, and calls the

   296

 * start_xmit() function of the assigned net_device.

   297

 */

   298

void ec_device_send(

   299

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

   300

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

   301

        )

   302

{

   303

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

   304

   305

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

   306

        return;

   307

   308

    // set the right length for the data

   309

    skb->len = ETH_HLEN + size;

   310

   311

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

   312

        EC_DBG("sending frame:\n");

   313

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

   314

    }

   315

   316

    // start sending

   317

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

   318

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

   319

#else

   320

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

   321

#endif

   322

        device->tx_count++;

   323

#ifdef EC_DEBUG_IF

   324

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

   325

#endif

   326

#ifdef EC_DEBUG_RING

   327

        ec_device_debug_ring_append(

   328

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

   329

#endif

   330

    }

   331

}

   332

   333

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

   334

   335

#ifdef EC_DEBUG_RING

   336

/** Appends frame data to the debug ring.

   337

 */

   338

void ec_device_debug_ring_append(

   339

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

   340

        ec_debug_frame_dir_t dir, /**< direction */

   341

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

   342

        size_t size /**< data size */

   343

        )

   344

{

   345

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

   346

   347

    df->dir = dir;

   348

    if (dir == TX)

   349

        do_gettimeofday(&df->t);

   350

    else

   351

        df->t = device->timeval_poll;

   352

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

   353

    df->data_size = size;

   354

   355

    device->debug_frame_index++;

   356

    device->debug_frame_index %= EC_DEBUG_RING_SIZE;

   357

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

   358

        device->debug_frame_count++;

   359

}

   360

   361

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

   362

   363

/** Outputs the debug ring.

   364

 */

   365

void ec_device_debug_ring_print(

   366

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

   367

        )

   368

{

   369

    int i;

   370

    unsigned int ring_index;

   371

    const ec_debug_frame_t *df;

   372

    struct timeval t0, diff;

   373

   374

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

   375

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

   376

        % EC_DEBUG_RING_SIZE;

   377

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

   378

   379

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

   380

   381

    // calculate index of the oldest frame in the ring

   382

    ring_index = (device->debug_frame_index + EC_DEBUG_RING_SIZE

   383

            - device->debug_frame_count) % EC_DEBUG_RING_SIZE;

   384

   385

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

   386

        df = &device->debug_frames[ring_index];

   387

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

   388

   389

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

   390

                i + 1 - device->debug_frame_count,

   391

                (unsigned int) diff.tv_sec,

   392

                (unsigned int) diff.tv_usec,

   393

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

   394

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

   395

   396

        ring_index++;

   397

        ring_index %= EC_DEBUG_RING_SIZE;

   398

    }

   399

}

   400

#endif

   401

   402

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

   403

   404

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

   405

 *

   406

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

   407

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

   408

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

   409

 */

   410

void ec_device_poll(

   411

        ec_device_t *device /**< EtherCAT device */

   412

        )

   413

{

   414

#ifdef EC_HAVE_CYCLES

   415

    device->cycles_poll = get_cycles();

   416

#endif

   417

    device->jiffies_poll = jiffies;

   418

#ifdef EC_DEBUG_RING

   419

    do_gettimeofday(&device->timeval_poll);

   420

#endif

   421

    device->poll(device->dev);

   422

}

   423

   424

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

   425

 *  Device interface

   426

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

   427

   428

/** Withdraws an EtherCAT device from the master.

   429

 *

   430

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

   431

 * are freed.

   432

 *

   433

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

   434

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

   435

 *            any more.

   436

 * \ingroup DeviceInterface

   437

 */

   438

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

   439

{

   440

    ec_master_t *master = device->master;

   441

    char str[20];

   442

   443

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

   444

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

   445

   446

    down(&master->device_sem);

   447

    ec_device_detach(device);

   448

    up(&master->device_sem);

   449

}

   450

   451

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

   452

   453

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

   454

 *

   455

 * \return 0 on success, else < 0

   456

 * \ingroup DeviceInterface

   457

 */

   458

int ecdev_open(ec_device_t *device /**< EtherCAT device */)

   459

{

   460

    int ret;

   461

   462

    ret = ec_device_open(device);

   463

    if (ret) {

   464

        EC_ERR("Failed to open device!\n");

   465

        return ret;

   466

    }

   467

   468

    ret = ec_master_enter_idle_phase(device->master);

   469

    if (ret) {

   470

        EC_ERR("Failed to enter IDLE phase!\n");

   471

        return ret;

   472

    }

   473

   474

    return 0;

   475

}

   476

   477

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

   478

   479

/** Makes the master leave IDLE phase and closes the network device.

   480

 *

   481

 * \return 0 on success, else < 0

   482

 * \ingroup DeviceInterface

   483

 */

   484

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

   485

{

   486

    ec_master_leave_idle_phase(device->master);

   487