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

/** \file

    31

 * EtherCAT master driver module.

    32

 */

    33

    34

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

    35

    36

#include <linux/module.h>

    37

#include <linux/device.h>

    38

#include <linux/err.h>

    39

    40

#include "globals.h"

    41

#include "master.h"

    42

#include "device.h"

    43

    44

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

    45

    46

#define MAX_MASTERS 32 /**< Maximum number of masters. */

    47

    48

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

    49

    50

int __init ec_init_module(void);

    51

void __exit ec_cleanup_module(void);

    52

    53

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

    54

    55

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

    56

    57

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

    58

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

    59

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

    60

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

    61

static unsigned int debug_level;  /**< Debug level parameter. */

    62

    63

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

    64

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

    65

    66

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

    67

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

    68

    69

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

    70

    71

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

    72

    73

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

    74

    75

/** \cond */

    76

    77

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

    78

MODULE_DESCRIPTION("EtherCAT master driver module");

    79

MODULE_LICENSE("GPL");

    80

MODULE_VERSION(EC_MASTER_VERSION);

    81

    82

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

    83

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

    84

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

    85

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

    86

module_param_named(debug_level, debug_level, uint, S_IRUGO);

    87

MODULE_PARM_DESC(debug_level, "Debug level");

    88

    89

/** \endcond */

    90

    91

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

    92

    93

/** Module initialization.

    94

 *

    95

 * Initializes \a 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

    sema_init(&master_sem, 1);

   105

   106

    if (master_count) {

   107

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

   108

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

   109

            ret = -EBUSY;

   110

            goto out_return;

   111

        }

   112

    }

   113

   114

    class = class_create(THIS_MODULE, "EtherCAT");

   115

    if (IS_ERR(class)) {

   116

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

   117

        ret = PTR_ERR(class);

   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

        ret = ec_mac_parse(macs[i][0], main_devices[i], 0);

   127

        if (ret)

   128

            goto out_class;

   129

   130

        if (i < backup_count) {

   131

            ret = ec_mac_parse(macs[i][1], backup_devices[i], 1);

   132

            if (ret)

   133

                goto out_class;

   134

        }

   135

    }

   136

   137

    // initialize static master variables

   138

    ec_master_init_static();

   139

   140

    if (master_count) {

   141

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

   142

                        GFP_KERNEL))) {

   143

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

   144

            ret = -ENOMEM;

   145

            goto out_class;

   146

        }

   147

    }

   148

   149

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

   150

        ret = ec_master_init(&masters[i], i, macs[i][0], macs[i][1],

   151

                    device_number, class, debug_level);

   152

        if (ret)

   153

            goto out_free_masters;

   154

    }

   155

   156

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

   157

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

   158

    return ret;

   159

   160

out_free_masters:

   161

    for (i--; i >= 0; i--)

   162

        ec_master_clear(&masters[i]);

   163

    kfree(masters);

   164

out_class:

   165

    class_destroy(class);

   166

out_cdev:

   167

    if (master_count)

   168

        unregister_chrdev_region(device_number, master_count);

   169

out_return:

   170

    return ret;

   171

}

   172

   173

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

   174

   175

/** Module cleanup.

   176

 *

   177

 * Clears all master instances.

   178

 */

   179

void __exit ec_cleanup_module(void)

   180

{

   181

    unsigned int i;

   182

   183

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

   184

        ec_master_clear(&masters[i]);

   185

    }

   186

   187

    if (master_count)

   188

        kfree(masters);

   189

   190

    class_destroy(class);

   191

   192

    if (master_count)

   193

        unregister_chrdev_region(device_number, master_count);

   194

   195

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

   196

}

   197

   207

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

   208

 * MAC address functions

   209

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

   210

   211

/**

   212

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

   213

 */

   214

int ec_mac_equal(

   215

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

   216

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

   217

        )

   218

{

   219

    unsigned int i;

   220

   221

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

   222

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

   223

            return 0;

   224

   225

    return 1;

   226

}

   227

   228

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

   229

   230

/** Print a MAC address to a buffer.

   231

 *

   232

 * \return number of bytes written.

   233

 */

   234

ssize_t ec_mac_print(

   235

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

   236

        char *buffer /**< target buffer */

   237

        )

   238

{

   239

    off_t off = 0;

   240

    unsigned int i;

   241

   242

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

   243

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

   244

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

   245

    }

   246

   247

    return off;

   248

}

   249

   250

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

   251

   252

/**

   253

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

   254

 */

   255

int ec_mac_is_zero(

   256

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

   257

        )

   258

{

   259

    unsigned int i;

   260

   261

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

   262

        if (mac[i])

   263

            return 0;

   264

   265

    return 1;

   266

}

   267

   268

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

   269

   270

/**

   271

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

   272

 */

   273

int ec_mac_is_broadcast(

   274

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

   275

        )

   276

{

   277

    unsigned int i;

   278

   279

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

   280

        if (mac[i] != 0xff)

   281

            return 0;

   282

   283

    return 1;

   284

}

   285

   286

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

   287

   288

/** Parse a MAC address from a string.

   289

 *

   290

 * The MAC address must follow the regexp

   291

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

   292

 *

   293

 * \return 0 on success, else < 0

   294

 */

   295

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

   296

{

   297

    unsigned int i, value;

   298

    const char *orig = src;

   299

    char *rem;

   300

   301

    if (!strlen(src)) {

   302

        if (allow_empty){

   303

            return 0;

   304

        }

   305

        else {

   306

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

   307

            return -EINVAL;

   308

        }

   309

    }

   310

   311

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

   312

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

   313

        if (rem != src + 2

   314

                || value > 0xFF

   315

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

   316

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

   317

            return -EINVAL;

   318

        }

   319

        mac[i] = value;

   320

        if (i < ETH_ALEN - 1)

   321

            src = rem + 1; // skip colon

   322

    }

   323

   324

    return 0;

   325

}

   326

   327

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

   328

   329

/** Outputs frame contents for debugging purposes.

   330

 * If the data block is larger than 256 bytes, only the first 128

   331

 * and the last 128 bytes will be shown

   332

 */

   333

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

   334

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

   335

                   )

   336

{

   337

    unsigned int i;

   338

   339

    EC_DBG("");

   340

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

   341

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

   342

        if ((i + 1) % 16 == 0 && i < size - 1) {

   343

            printk("\n");

   344

            EC_DBG("");

   345

        }

   346

        if (i+1 == 128 && size > 256)

   347

        {

   348

            printk("dropped %d bytes\n",size-128-i);

   349

            i = size - 128;

   350

            EC_DBG("");

   351

        }

   352

    }

   353

    printk("\n");

   354

}

   355

   356

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

   357

   358

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

   359

 */

   360

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

   361

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

   362

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

   363

                        )

   364

{

   365

    unsigned int i;

   366

   367

    EC_DBG("");

   368

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

   369

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

   370

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

   371

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

   372

            printk("\n");

   373

            EC_DBG("");

   374

        }

   375

    }

   376

    printk("\n");

   377

}

   378

   379

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

   380

   381

/** Prints slave states in clear text.

   382

 */

   383

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

   384

                       char *buffer, /**< target buffer

   385

                                       (min. EC_STATE_STRING_SIZE bytes) */

   386

                       uint8_t multi /**< Show multi-state mask. */

   387

                       )

   388

{

   389

    off_t off = 0;

   390

    unsigned int first = 1;

   391

   392

    if (!states) {

   393

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

   394

        return off;

   395

    }

   396

   397

    if (multi) { // multiple slaves

   398

        if (states & EC_SLAVE_STATE_INIT) {

   399

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

   400

            first = 0;

   401

        }

   402

        if (states & EC_SLAVE_STATE_PREOP) {

   403

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

   404

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

   405

            first = 0;

   406

        }

   407

        if (states & EC_SLAVE_STATE_SAFEOP) {

   408

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

   409

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

   410

            first = 0;

   411

        }

   412

        if (states & EC_SLAVE_STATE_OP) {

   413

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

   414

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

   415

        }

   416

    } else { // single slave

   417

        if ((states & EC_SLAVE_STATE_MASK) == EC_SLAVE_STATE_INIT) {

   418

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

   419

        } else if ((states & EC_SLAVE_STATE_MASK) == EC_SLAVE_STATE_PREOP) {

   420

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

   421

        } else if ((states & EC_SLAVE_STATE_MASK) == EC_SLAVE_STATE_BOOT) {

   422

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

   423

        } else if ((states & EC_SLAVE_STATE_MASK) == EC_SLAVE_STATE_SAFEOP) {

   424

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

   425

        } else if ((states & EC_SLAVE_STATE_MASK) == EC_SLAVE_STATE_OP) {

   426

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

   427

        } else {

   428

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

   429

        }

   430

        first = 0;

   431

    }

   432

   433

    if (states & EC_SLAVE_STATE_ACK_ERR) {

   434

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

   435

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

   436

    }

   437

   438

    return off;

   439

}

   440

   441

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

   442

 *  Device interface

   443

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

   444

   445

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

   446

 *

   447

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

   448

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

   449

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

   450

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

   451

 *

   452

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

   453

 * \ingroup DeviceInterface

   454

 */

   455

ec_device_t *ecdev_offer(

   456

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

   457

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

   458

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

   459

        )

   460

{

   461

    ec_master_t *master;

   462

    char str[20];

   463

    unsigned int i;

   464

   465

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

   466

        master = &masters[i];

   467

   468

        down(&master->device_sem);

   469

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

   470

            up(&master->device_sem);

   471

            continue;

   472

        }

   473

   474

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

   475

                || ec_mac_is_broadcast(master->main_mac)) {

   476

            ec_mac_print(net_dev->dev_addr, str);

   477

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

   478

                    str, master->index);

   479

   480

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

   481

            up(&master->device_sem);

   482

   483

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

   484

   485

            return &master->main_device; // offer accepted

   486

        }