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/device.h>

    42

#include <linux/err.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

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

    62

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

    63

    64

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

    65

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

    66

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

    67

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

    68

    69

dev_t device_number; /**< Device number for master cdevs. */

    70

struct class *class; /**< Device class. */

    71

    72

static uint8_t macs[MAX_MASTERS][2][ETH_ALEN]; /**< MAC addresses. */

    73

    74

char *ec_master_version_str = EC_MASTER_VERSION; /**< Version string. */

    75

    76

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

    77

    78

/** \cond */

    79

    80

MODULE_AUTHOR("Florian Pose <fp@igh-essen.com>");

    81

MODULE_DESCRIPTION("EtherCAT master driver module");

    82

MODULE_LICENSE("GPL");

    83

MODULE_VERSION(EC_MASTER_VERSION);

    84

    85

module_param_array(main_devices, charp, &master_count, S_IRUGO);

    86

MODULE_PARM_DESC(main_devices, "MAC addresses of main devices");

    87

module_param_array(backup_devices, charp, &backup_count, S_IRUGO);

    88

MODULE_PARM_DESC(backup_devices, "MAC addresses of backup devices");

    89

    90

/** \endcond */

    91

    92

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

    93

    94

/** Module initialization.

    95

 *

    96

 * Initializes \a master_count masters.

    97

 * \return 0 on success, else < 0

    98

 */

    99

int __init ec_init_module(void)

   100

{

   101

    int i, ret = 0;

   102

   103

    EC_INFO("Master driver %s\n", EC_MASTER_VERSION);

   104

   105

    init_MUTEX(&master_sem);

   106

   107

    if (master_count) {

   108

        if (alloc_chrdev_region(&device_number, 0, master_count, "EtherCAT")) {

   109

            EC_ERR("Failed to obtain device number(s)!\n");

   110

            ret = -EBUSY;

   111

            goto out_return;

   112

        }

   113

    }

   114

   115

    class = class_create(THIS_MODULE, "EtherCAT");

   116

    if (IS_ERR(class)) {

   117

        EC_ERR("Failed to create device class.\n");

   118

        goto out_cdev;

   119

    }

   120

   121

    // zero MAC addresses

   122

    memset(macs, 0x00, sizeof(uint8_t) * MAX_MASTERS * 2 * ETH_ALEN);

   123

   124

    // process MAC parameters

   125

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

   126

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

   127

            ret = -EINVAL;

   128

            goto out_class;

   129

        }

   130

   131

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

   132

            ret = -EINVAL;

   133

            goto out_class;

   134

        }

   135

    }

   136

   137

    if (master_count) {

   138

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

   139

                        GFP_KERNEL))) {

   140

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

   141

            ret = -ENOMEM;

   142

            goto out_class;

   143

        }

   144

    }

   145

   146

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

   147

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

   148

                    device_number, class)) {

   149

            ret = -ENOMEM;

   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--)

   160

        ec_master_clear(&masters[i]);

   161

    kfree(masters);

   162

out_class:

   163

    class_destroy(class);

   164

out_cdev:

   165

    if (master_count)

   166

        unregister_chrdev_region(device_number, master_count);

   167

out_return:

   168

    return ret;

   169

}

   170

   171

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

   172

   173

/** Module cleanup.

   174

 *

   175

 * Clears all master instances.

   176

 */

   177

void __exit ec_cleanup_module(void)

   178

{

   179

    unsigned int i;

   180

   181

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

   182

        ec_master_clear(&masters[i]);

   183

    }

   184

   185

    if (master_count)

   186

        kfree(masters);

   187

   188

    class_destroy(class);

   189

   190

    if (master_count)

   191

        unregister_chrdev_region(device_number, master_count);

   192

   193

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

   194

}

   195

   196

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

   197

 * MAC address functions

   198

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

   199

   200

/**

   201

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

   202

 */

   203

int ec_mac_equal(

   204

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

   205

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

   206

        )

   207

{

   208

    unsigned int i;

   209

   210

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

   211

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

   212

            return 0;

   213

   214

    return 1;

   215

}

   216

   217

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

   218

   219

/** Print a MAC address to a buffer.

   220

 *

   221

 * \return number of bytes written.

   222

 */

   223

ssize_t ec_mac_print(

   224

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

   225

        char *buffer /**< target buffer */

   226

        )

   227

{

   228

    off_t off = 0;

   229

    unsigned int i;

   230

   231

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

   232

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

   233

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

   234

    }

   235

   236

    return off;

   237

}

   238

   239

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

   240

   241

/**

   242

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

   243

 */

   244

int ec_mac_is_zero(

   245

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

   246

        )

   247

{

   248

    unsigned int i;

   249

   250

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

   251

        if (mac[i])

   252

            return 0;

   253

   254

    return 1;

   255

}

   256

   257

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

   258

   259

/**

   260

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

   261

 */

   262

int ec_mac_is_broadcast(

   263

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

   264

        )

   265

{

   266

    unsigned int i;

   267

   268

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

   269

        if (mac[i] != 0xff)

   270

            return 0;

   271

   272

    return 1;

   273

}

   274

   275

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

   276

   277

/** Parse a MAC address from a string.

   278

 *

   279

 * The MAC address must follow the regexp

   280

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

   281

 *

   282

 * \return 0 on success, else < 0

   283

 */

   284

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

   285

{

   286

    unsigned int i, value;

   287

    const char *orig = src;

   288

    char *rem;

   289

   290

    if (!strlen(src)) {

   291

        if (allow_empty){

   292

            return 0;

   293

        }

   294

        else {

   295

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

   296

            return -EINVAL;

   297

        }

   298

    }

   299

   300

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

   301

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

   302

        if (rem != src + 2

   303

                || value > 0xFF

   304

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

   305

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

   306

            return -EINVAL;

   307

        }

   308

        mac[i] = value;

   309

        if (i < ETH_ALEN - 1)

   310

            src = rem + 1; // skip colon

   311

    }

   312

   313

    return 0;

   314

}

   315

   316

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

   317

   318

/** Outputs frame contents for debugging purposes.

   319

 */

   320

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

   321

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

   322

                   )

   323

{

   324

    unsigned int i;

   325

   326

    EC_DBG("");

   327

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

   328

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

   329

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

   330

            printk("\n");

   331

            EC_DBG("");

   332

        }

   333

    }

   334

    printk("\n");

   335

}

   336

   337

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

   338

   339

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

   340

 */

   341

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

   342

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

   343

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

   344

                        )

   345

{

   346

    unsigned int i;

   347

   348

    EC_DBG("");

   349

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

   350

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

   351

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

   352

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

   353

            printk("\n");

   354

            EC_DBG("");

   355

        }

   356

    }

   357

    printk("\n");

   358

}

   359

   360

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

   361

   362

/** Prints slave states in clear text.

   363

 */

   364

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

   365

                       char *buffer /**< target buffer

   366

                                       (min. EC_STATE_STRING_SIZE bytes) */

   367

                       )

   368

{

   369

    off_t off = 0;

   370

    unsigned int first = 1;

   371

   372

    if (!states) {

   373

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

   374

        return off;

   375

    }

   376

   377

    if (states & EC_SLAVE_STATE_INIT) {

   378

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

   379

        first = 0;

   380

    }

   381

    if (states & EC_SLAVE_STATE_PREOP) {

   382

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

   383

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

   384

        first = 0;

   385

    }

   386

    if (states & EC_SLAVE_STATE_SAFEOP) {

   387

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

   388

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

   389

        first = 0;

   390

    }

   391

    if (states & EC_SLAVE_STATE_OP) {

   392

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

   393

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

   394

    }

   395

    if (states & EC_SLAVE_STATE_ACK_ERR) {

   396

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

   397

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

   398

    }

   399

   400

    return off;

   401

}

   402

   403

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

   404

 *  Device interface

   405

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

   406

   407

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

   408

 *

   409

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

   410

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

   411

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

   412

 * newly created EtherCAT device is returned, else \a NULL is returned.

   413

 *

   414

 * \return Pointer to device, if accepted, or NULL if declined.

   415

 * \ingroup DeviceInterface

   416

 */

   417

ec_device_t *ecdev_offer(

   418

        struct net_device *net_dev, /**< net_device to offer */

   419

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

   420

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

   421

        )

   422

{

   423

    ec_master_t *master;

   424

    char str[20];

   425

    unsigned int i;

   426

   427

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

   428

        master = &masters[i];

   429

   430

        down(&master->device_sem);

   431

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

   432

            up(&master->device_sem);

   433

            continue;

   434

        }

   435

   436

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

   437

                || ec_mac_is_broadcast(master->main_mac)) {

   438

            ec_mac_print(net_dev->dev_addr, str);

   439

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

   440

                    str, master->index);

   441

   442

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

   443

            up(&master->device_sem);

   444

   445

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

   446

            return &master->main_device; // offer accepted

   447

        }

   448

        else {

   449

            up(&master->device_sem);

   450

   451

            if (master->debug_level) {

   452

                ec_mac_print(net_dev->dev_addr, str);

   453

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

   454

            }

   455

        }

   456

    }

   457

   458

    return NULL; // offer declined

   459

}

   460

   461

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

   462

 *  Realtime interface

   463

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

   464

   465

ec_master_t *ecrt_request_master(unsigned int master_index)

   466

{

   467

    ec_master_t *master, *errptr = NULL;

   468

   469

    EC_INFO("Requesting master %u...\n", master_index);

   470

   471

    if (master_index >= master_count) {

   472

        EC_ERR("Invalid master index %u.\n", master_index);

   473

        errptr = ERR_PTR(-EINVAL);

   474

        goto out_return;

   475

    }

   476

    master = &masters[master_index];

   477

   478

    if (down_interruptible(&master_sem)) {

   479

        errptr = ERR_PTR(-EINTR);

   480

        goto out_return;

   481

    }

   482

   483

    if (master->reserved) {

   484

        up(&master_sem);

   485

        EC_ERR("Master %u is already in use!\n", master_index);

   486

        errptr = ERR_PTR(-EBUSY);