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

#include <linux/fs.h>

    44

    45

#include "globals.h"

    46

#include "master.h"

    47

#include "device.h"

    48

    49

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

    50

    51

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

    52

    53

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

    54

    55

int __init ec_init_module(void);

    56

void __exit ec_cleanup_module(void);

    57

    58

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

    59

    60

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

    61

    62

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

    63

    64

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

    65

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

    66

    67

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

    68

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

    69

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

    70

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

    71

    72

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

    73

    74

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

    75

    76

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

    77

    78

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

    79

    80

/** \cond */

    81

    82

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

    83

MODULE_DESCRIPTION("EtherCAT master driver module");

    84

MODULE_LICENSE("GPL");

    85

MODULE_VERSION(EC_MASTER_VERSION);

    86

    87

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

    88

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

    89

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

    90

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

    91

    92

/** \endcond */

    93

    94

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

    95

    96

/** Module initialization.

    97

 *

    98

 * Initializes \a master_count masters.

    99

 * \return 0 on success, else < 0

   100

 */

   101

int __init ec_init_module(void)

   102

{

   103

    int i, ret = 0;

   104

   105

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

   106

   107

    init_MUTEX(&master_sem);

   108

   109

    // init kobject and add it to the hierarchy

   110

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

   111

    kobject_init(&kobj); // no ktype

   112

   113

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

   114

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

   115

        ret = -ENOMEM;

   116

        goto out_put;

   117

    }

   118

   119

    if (kobject_add(&kobj)) {

   120

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

   121

        ret = -EEXIST;

   122

        goto out_put;

   123

    }

   124

   125

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

   126

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

   127

        ret = -EBUSY;

   128

        goto out_del;

   129

    }

   130

   131

    // zero MAC addresses

   132

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

   133

   134

    // process MAC parameters

   135

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

   136

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

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            ret = -EINVAL;

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            goto out_cdev;

   139

        }

   140

   141

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

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            ret = -EINVAL;

   143

            goto out_cdev;

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        }

   145

    }

   146

   147

    if (master_count) {

   148

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

   149

                        GFP_KERNEL))) {

   150

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

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            ret = -ENOMEM;

   152

            goto out_cdev;

   153

        }

   154

    }

   155

   156

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

   157

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

   158

                device_number)) {

   159

            ret = -EIO;

   160

            goto out_free_masters;

   161

        }

   162

    }

   163

   164

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

   165

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

   166

    return ret;

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   168

out_free_masters:

   169

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

   170

    kfree(masters);

   171

out_cdev:

   172

    unregister_chrdev_region(device_number, master_count);

   173

out_del:

   174

    kobject_del(&kobj);

   175

out_put:

   176

    kobject_put(&kobj);

   177

    return ret;

   178

}

   179

   180

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

   181

   182

/** Module cleanup.

   183

 *

   184

 * Clears all master instances.

   185

 */

   186

void __exit ec_cleanup_module(void)

   187

{

   188

    unsigned int i;

   189

   190

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

   191

        ec_master_clear(&masters[i]);

   192

    }

   193

    if (master_count)

   194

        kfree(masters);

   195

   196

    unregister_chrdev_region(device_number, master_count);

   197

   198

    kobject_del(&kobj);

   199

    kobject_put(&kobj);

   200

   201

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

   202

}

   203

   204

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

   205

 * MAC address functions

   206

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

   207

   208

/**

   209

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

   210

 */

   211

int ec_mac_equal(

   212

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

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

   214

        )

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{

   216

    unsigned int i;

   217

   218

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

   219

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

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            return 0;

   221

   222

    return 1;

   223

}

   224

   225

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

   226

   227

/** Print a MAC address to a buffer.

   228

 *

   229

 * \return number of bytes written.

   230

 */

   231

ssize_t ec_mac_print(

   232

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

   233

        char *buffer /**< target buffer */

   234

        )

   235

{

   236

    off_t off = 0;

   237

    unsigned int i;

   238

   239

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

   240

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

   241

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

   242

    }

   243

   244

    return off;

   245

}

   246

   247

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

   248

   249

/**

   250

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

   251

 */

   252

int ec_mac_is_zero(

   253

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

   254

        )

   255

{

   256

    unsigned int i;

   257

   258

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

   259

        if (mac[i])

   260

            return 0;

   261

   262

    return 1;

   263

}

   264

   265

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

   266

   267

/**

   268

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

   269

 */

   270

int ec_mac_is_broadcast(

   271

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

   272

        )

   273

{

   274

    unsigned int i;

   275

   276

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

   277

        if (mac[i] != 0xff)

   278

            return 0;

   279

   280

    return 1;

   281

}

   282

   283

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

   284

   285

/** Parse a MAC address from a string.

   286

 *

   287

 * The MAC address must follow the regexp

   288

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

   289

 *

   290

 * \return 0 on success, else < 0

   291

 */

   292

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

   293

{

   294

    unsigned int i, value;

   295

    const char *orig = src;

   296

    char *rem;

   297

   298

    if (!strlen(src)) {

   299

        if (allow_empty){

   300

            return 0;

   301

        }

   302

        else {

   303

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

   304

            return -EINVAL;

   305

        }

   306

    }

   307

   308

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

   309

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

   310

        if (rem != src + 2

   311

                || value > 0xFF

   312

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

   313

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

   314

            return -EINVAL;

   315

        }

   316

        mac[i] = value;

   317

        if (i < ETH_ALEN - 1)

   318

            src = rem + 1; // skip colon

   319

    }

   320

   321

    return 0;

   322

}

   323

   324

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

   325

   326

/** Outputs frame contents for debugging purposes.

   327

 */

   328

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

   329

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

   330

                   )

   331

{

   332

    unsigned int i;

   333

   334

    EC_DBG("");

   335

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

   336

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

   337

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

   338

            printk("\n");

   339

            EC_DBG("");

   340

        }

   341

    }

   342

    printk("\n");

   343

}

   344

   345

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

   346

   347

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

   348

 */

   349

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

   350

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

   351

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

   352

                        )

   353

{

   354

    unsigned int i;

   355

   356

    EC_DBG("");

   357

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

   358

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

   359

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

   360

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

   361

            printk("\n");

   362

            EC_DBG("");

   363

        }

   364

    }

   365

    printk("\n");

   366

}

   367

   368

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

   369

   370

/** Prints slave states in clear text.

   371

 */

   372

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

   373

                       char *buffer /**< target buffer

   374

                                       (min. EC_STATE_STRING_SIZE bytes) */

   375

                       )

   376

{

   377

    off_t off = 0;

   378

    unsigned int first = 1;

   379

   380

    if (!states) {

   381

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

   382

        return off;

   383

    }

   384

   385

    if (states & EC_SLAVE_STATE_INIT) {

   386

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

   387

        first = 0;

   388

    }

   389

    if (states & EC_SLAVE_STATE_PREOP) {

   390

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

   391

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

   392

        first = 0;

   393

    }

   394

    if (states & EC_SLAVE_STATE_SAFEOP) {

   395

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

   396

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

   397

        first = 0;

   398

    }

   399

    if (states & EC_SLAVE_STATE_OP) {

   400

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

   401

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

   402

    }

   403

    if (states & EC_SLAVE_STATE_ACK_ERR) {

   404

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

   405

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

   406

    }

   407

   408

    return off;

   409

}

   410

   411

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

   412

 *  Device interface

   413

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

   414

   415

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

   416

 *

   417

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

   418

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

   419

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

   420

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

   421

 * pointer is written to zero.

   422

 *

   423

 * \return 0 on success, else < 0

   424

 * \ingroup DeviceInterface

   425

 */

   426

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

   427

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

   428

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

   429

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

   430

        )

   431

{

   432

    ec_master_t *master;

   433

    char str[20];

   434

    unsigned int i;

   435

   436

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

   437

        master = &masters[i];

   438

   439

        down(&master->device_sem);

   440

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

   441

            up(&master->device_sem);

   442

            continue;

   443

        }

   444

   445

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

   446

                || ec_mac_is_broadcast(master->main_mac)) {

   447

            ec_mac_print(net_dev->dev_addr, str);

   448

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

   449

                    str, master->index);

   450

   451

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

   452

            up(&master->device_sem);

   453

   454

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

   455

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

   456

            return 0; // no error

   457

        }

   458

        else {

   459

            up(&master->device_sem);

   460

   461

            if (master->debug_level) {

   462

                ec_mac_print(net_dev->dev_addr, str);

   463

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

   464

            }

   465

        }

   466

    }

   467

   468

    *ecdev = NULL; // offer declined

   469

    return 0; // no error

   470

}

   471

   472

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

   473

   474

/** Withdraws an EtherCAT device from the master.

   475

 *

   476

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

   477

 * are freed.

   478

 *

   479

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

   480

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

   481

 *            any more.

   482

 * \ingroup DeviceInterface

   483

 */

   484

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

   485

{

   486

    ec_master_t *master = device->master;

   487

    char str[20];