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

#include "xmldev.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

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

    73

    74

static dev_t device_number; /**< XML character device number. */

    75

ec_xmldev_t xmldev; /**< XML character device. */

    76

    77

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

    78

    79

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

    80

    81

/** \cond */

    82

    83

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

    84

MODULE_DESCRIPTION("EtherCAT master driver module");

    85

MODULE_LICENSE("GPL");

    86

MODULE_VERSION(EC_MASTER_VERSION);

    87

    88

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

    89

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

    90

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

    91

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

    92

    93

/** \endcond */

    94

    95

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

    96

    97

/** Module initialization.

    98

 *

    99

 * Initializes \a ec_master_count masters.

   100

 * \return 0 on success, else < 0

   101

 */

   102

int __init ec_init_module(void)

   103

{

   104

    int i, ret = 0;

   105

   106

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

   107

   108

    init_MUTEX(&master_sem);

   109

   110

    // init kobject and add it to the hierarchy

   111

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

   112

    kobject_init(&kobj); // no ktype

   113

   114

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

   115

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

   116

        ret = -ENOMEM;

   117

        goto out_put;

   118

    }

   119

   120

    if (kobject_add(&kobj)) {

   121

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

   122

        ret = -EEXIST;

   123

        goto out_put;

   124

    }

   125

   126

    if (alloc_chrdev_region(&device_number, 0, 1, "EtherCAT")) {

   127

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

   128

        ret = -EBUSY;

   129

        goto out_del;

   130

    }

   131

   132

    // zero MAC addresses

   133

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

   134

   135

    // process MAC parameters

   136

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

   137

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

   138

            ret = -EINVAL;

   139

            goto out_cdev;

   140

        }

   141

   142

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

   143

            ret = -EINVAL;

   144

            goto out_cdev;

   145

        }

   146

    }

   147

   148

    if (master_count) {

   149

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

   150

                        GFP_KERNEL))) {

   151

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

   152

            ret = -ENOMEM;

   153

            goto out_cdev;

   154

        }

   155

    }

   156

   157

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

   158

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

   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;

   167

   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, 1);

   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, 1);

   197

    kobject_del(&kobj);

   198

    kobject_put(&kobj);

   199

   200

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

   201

}

   202

   203

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

   204

 * MAC address functions

   205

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

   206

   207

/**

   208

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

   209

 */

   210

int ec_mac_equal(

   211

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

   212

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

   213

        )

   214

{

   215

    unsigned int i;

   216

   217

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

   218

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

   219

            return 0;

   220

   221

    return 1;

   222

}

   223

   224

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

   225

   226

/** Print a MAC address to a buffer.

   227

 *

   228

 * \return number of bytes written.

   229

 */

   230

ssize_t ec_mac_print(

   231

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

   232

        char *buffer /**< target buffer */

   233

        )

   234

{

   235

    off_t off = 0;

   236

    unsigned int i;

   237

   238

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

   239

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

   240

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

   241

    }

   242

   243

    return off;

   244

}

   245

   246

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

   247

   248

/**

   249

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

   250

 */

   251

int ec_mac_is_zero(

   252

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

   253

        )

   254

{

   255

    unsigned int i;

   256

   257

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

   258

        if (mac[i])

   259

            return 0;

   260

   261

    return 1;

   262

}

   263

   264

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

   265

   266

/**

   267

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

   268

 */

   269

int ec_mac_is_broadcast(

   270

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

   271

        )

   272

{

   273

    unsigned int i;

   274

   275

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

   276

        if (mac[i] != 0xff)

   277

            return 0;

   278

   279

    return 1;

   280

}

   281

   282

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

   283

   284

/** Parse a MAC address from a string.

   285

 *

   286

 * The MAC address must follow the regexp

   287

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

   288

 *

   289

 * \return 0 on success, else < 0

   290

 */

   291

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

   292

{

   293

    unsigned int i, value;

   294

    const char *orig = src;

   295

    char *rem;

   296

   297

    if (!strlen(src)) {

   298

        if (allow_empty){

   299

            return 0;

   300

        }

   301

        else {

   302

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

   303

            return -EINVAL;

   304

        }

   305

    }

   306

   307

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

   308

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

   309

        if (rem != src + 2

   310

                || value > 0xFF

   311

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

   312

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

   313

            return -EINVAL;

   314

        }

   315

        mac[i] = value;

   316

        if (i < ETH_ALEN - 1)

   317

            src = rem + 1; // skip colon

   318

    }

   319

   320

    return 0;

   321

}

   322

   323

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

   324

   325

/** Outputs frame contents for debugging purposes.

   326

 */

   327

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

   328

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

   329

                   )

   330

{

   331

    unsigned int i;

   332

   333

    EC_DBG("");

   334

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

   335

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

   336

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

   337

            printk("\n");

   338

            EC_DBG("");

   339

        }

   340

    }

   341

    printk("\n");

   342

}

   343

   344

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

   345

   346

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

   347

 */

   348

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

   349

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

   350

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

   351

                        )

   352

{

   353

    unsigned int i;

   354

   355

    EC_DBG("");

   356

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

   357

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

   358

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

   359

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

   360

            printk("\n");

   361

            EC_DBG("");

   362

        }

   363

    }

   364

    printk("\n");

   365

}

   366

   367

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

   368

   369

/** Prints slave states in clear text.

   370

 */

   371

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

   372

                       char *buffer /**< target buffer

   373

                                       (min. EC_STATE_STRING_SIZE bytes) */

   374

                       )

   375

{

   376

    off_t off = 0;

   377

    unsigned int first = 1;

   378

   379

    if (!states) {

   380

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

   381

        return off;

   382

    }

   383

   384

    if (states & EC_SLAVE_STATE_INIT) {

   385

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

   386

        first = 0;

   387

    }

   388

    if (states & EC_SLAVE_STATE_PREOP) {

   389

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

   390

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

   391

        first = 0;

   392

    }

   393

    if (states & EC_SLAVE_STATE_SAFEOP) {

   394

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

   395

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

   396

        first = 0;

   397

    }

   398

    if (states & EC_SLAVE_STATE_OP) {

   399

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

   400

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

   401

    }

   402

    if (states & EC_SLAVE_STATE_ACK_ERR) {

   403

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

   404

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

   405

    }

   406

   407

    return off;

   408

}

   409

   410

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

   411

 *  Device interface

   412

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

   413

   414

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

   415

 *

   416

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

   417

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

   418

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

   419

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

   420

 * pointer is written to zero.

   421

 *

   422

 * \return 0 on success, else < 0

   423

 * \ingroup DeviceInterface

   424

 */

   425

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

   426

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

   427

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

   428

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

   429

        )

   430

{

   431

    ec_master_t *master;

   432

    char str[20];

   433

    unsigned int i;

   434

   435

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

   436

        master = &masters[i];

   437

   438

        down(&master->device_sem);

   439

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

   440

            up(&master->device_sem);

   441

            continue;

   442

        }

   443

   444

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

   445

                || ec_mac_is_broadcast(master->main_mac)) {

   446

            ec_mac_print(net_dev->dev_addr, str);

   447

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

   448

                    str, master->index);

   449

   450

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

   451

            up(&master->device_sem);

   452

   453

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

   454

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

   455

            return 0; // no error

   456

        }

   457

        else {

   458

            up(&master->device_sem);

   459

   460

            if (master->debug_level) {

   461

                ec_mac_print(net_dev->dev_addr, str);

   462

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

   463

            }

   464

        }

   465

    }

   466

   467

    *ecdev = NULL; // offer declined

   468

    return 0; // no error

   469

}

   470

   471

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

   472

   473

/** Withdraws an EtherCAT device from the master.

   474

 *

   475

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

   476

 * are freed.

   477

 *

   478

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

   479

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

   480

 *            any more.

   481

 * \ingroup DeviceInterface

   482

 */

   483

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

   484

{

   485

    ec_master_t *master = device->master;

   486

    char str[20];

   487

   488

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