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

     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

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 *  Licensee. People intending to distribute/sell products based on the

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 *  code, have to sign an agreement to guarantee that products using

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 *  software based on IgH EtherCAT master stay compatible with the actual

    28

 *  EtherCAT specification (which are released themselves as an open

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 *  standard) as the (only) precondition to have the right to use EtherCAT

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 *  Technology, IP and trade marks.

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 *

    32

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

    33

    34

/**

    35

   \file

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   EtherCAT master driver module.

    37

*/

    38

    39

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

    40

    41

#include <linux/module.h>

    42

#include <linux/kernel.h>

    43

#include <linux/init.h>

    44

    45

#include "globals.h"

    46

#include "master.h"

    47

#include "device.h"

    48

    49

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

    50

    51

int __init ec_init_module(void);

    52

void __exit ec_cleanup_module(void);

    53

    54

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

    55

    56

static int ec_master_count = 1; /**< parameter value, number of masters */

    57

static int ec_eoeif_count = 0; /**< parameter value, number of EoE interf. */

    58

static struct list_head ec_masters; /**< list of masters */

    59

static dev_t device_number;

    60

    61

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

    62

    63

/** \cond */

    64

    65

module_param(ec_master_count, int, S_IRUGO);

    66

module_param(ec_eoeif_count, int, S_IRUGO);

    67

    68

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

    69

MODULE_DESCRIPTION("EtherCAT master driver module");

    70

MODULE_LICENSE("GPL");

    71

MODULE_VERSION(EC_MASTER_VERSION);

    72

MODULE_PARM_DESC(ec_master_count, "number of EtherCAT masters to initialize");

    73

MODULE_PARM_DESC(ec_eoeif_count, "number of EoE interfaces per master");

    74

    75

/** \endcond */

    76

    77

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

    78

    79

/**

    80

   Module initialization.

    81

   Initializes \a ec_master_count masters.

    82

   \return 0 on success, else < 0

    83

*/

    84

    85

int __init ec_init_module(void)

    86

{

    87

    unsigned int i;

    88

    ec_master_t *master, *next;

    89

    90

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

    91

    92

    if (ec_master_count < 1) {

    93

        EC_ERR("Invalid ec_master_count: %i\n", ec_master_count);

    94

        goto out_return;

    95

    }

    96

    97

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

    98

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

    99

        goto out_return;

   100

    }

   101

   102

    EC_INFO("Initializing %i EtherCAT master(s)...\n", ec_master_count);

   103

   104

    INIT_LIST_HEAD(&ec_masters);

   105

   106

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

   107

        if (!(master =

   108

              (ec_master_t *) kmalloc(sizeof(ec_master_t), GFP_KERNEL))) {

   109

            EC_ERR("Failed to allocate memory for EtherCAT master %i.\n", i);

   110

            goto out_free;

   111

        }

   112

   113

        if (ec_master_init(master, i, ec_eoeif_count, device_number))

   114

            goto out_free;

   115

   116

        if (kobject_add(&master->kobj)) {

   117

            EC_ERR("Failed to add kobj.\n");

   118

            kobject_put(&master->kobj); // free master

   119

            goto out_free;

   120

        }

   121

   122

        list_add_tail(&master->list, &ec_masters);

   123

    }

   124

   125

    EC_INFO("Master driver initialized.\n");

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    return 0;

   127

   128

 out_free:

   129

    list_for_each_entry_safe(master, next, &ec_masters, list) {

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        list_del(&master->list);

   131

        kobject_del(&master->kobj);

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        kobject_put(&master->kobj);

   133

    }

   134

 out_return:

   135

    return -1;

   136

}

   137

   138

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

   139

   140

/**

   141

   Module cleanup.

   142

   Clears all master instances.

   143

*/

   144

   145

void __exit ec_cleanup_module(void)

   146

{

   147

    ec_master_t *master, *next;

   148

   149

    EC_INFO("Cleaning up master driver...\n");

   150

   151

    list_for_each_entry_safe(master, next, &ec_masters, list) {

   152

        list_del(&master->list);

   153

        kobject_del(&master->kobj);

   154

        kobject_put(&master->kobj); // free master

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    }

   156

   157

    unregister_chrdev_region(device_number, ec_master_count);

   158

   159

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

   160

}

   161

   162

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

   163

   164

/**

   165

   Gets a handle to a certain master.

   166

   \returns pointer to master

   167

*/

   168

   169

ec_master_t *ec_find_master(unsigned int master_index /**< master index */)

   170

{

   171

    ec_master_t *master;

   172

   173

    list_for_each_entry(master, &ec_masters, list) {

   174

        if (master->index == master_index) return master;

   175

    }

   176

   177

    EC_ERR("Master %i does not exist!\n", master_index);

   178

    return NULL;

   179

}

   180

   181

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

   182

   183

/**

   184

   Outputs frame contents for debugging purposes.

   185

*/

   186

   187

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

   188

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

   189

                   )

   190

{

   191

    unsigned int i;

   192

   193

    EC_DBG("");

   194

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

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

   196

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

   197

            printk("\n");

   198

            EC_DBG("");

   199

        }

   200

    }

   201

    printk("\n");

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}

   203

   204

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

   205

   206

/**

   207

   Outputs frame contents and differences for debugging purposes.

   208

*/

   209

   210

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

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

   212

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

   213

                        )

   214

{

   215

    unsigned int i;

   216

   217

    EC_DBG("");

   218

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

   219

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

   220

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

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

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            printk("\n");

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            EC_DBG("");

   224

        }

   225

    }

   226

    printk("\n");

   227

}

   228

   229

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

   230

   231

/**

   232

   Prints slave states in clear text.

   233

*/

   234

   235

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

   236

                       char *buffer /**< target buffer (min. 25 bytes) */

   237

                       )

   238

{

   239

    off_t off = 0;

   240

    unsigned int first = 1;

   241

   242

    if (!states) {

   243

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

   244

        return off;

   245

    }

   246

   247

    if (states & EC_SLAVE_STATE_INIT) {

   248

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

   249

        first = 0;

   250

    }

   251

    if (states & EC_SLAVE_STATE_PREOP) {

   252

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

   253

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

   254

        first = 0;

   255

    }

   256

    if (states & EC_SLAVE_STATE_SAVEOP) {

   257

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

   258

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

   259

        first = 0;

   260

    }

   261

    if (states & EC_SLAVE_STATE_OP) {

   262

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

   263

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

   264

    }

   265

   266

    return off;

   267

}

   268

   269

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

   270

 *  Device interface

   271

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

   272

   273

/**

   274

   Connects an EtherCAT device to a certain master.

   275

   The master will use the device for sending and receiving frames. It is

   276

   required that no other instance (for example the kernel IP stack) uses

   277

   the device.

   278

   \return 0 on success, else < 0

   279

   \ingroup DeviceInterface

   280

*/

   281

   282

ec_device_t *ecdev_register(unsigned int master_index, /**< master index */

   283

                            struct net_device *net_dev, /**< net_device of

   284

                                                           the device */

   285

                            ec_isr_t isr, /**< interrupt service routine */

   286

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

   287

                            )

   288

{

   289

    ec_master_t *master;

   290

   291

    if (!(master = ec_find_master(master_index))) return NULL;

   292

   293

    if (down_interruptible(&master->device_sem)) {

   294

        EC_ERR("Interrupted while waiting for device!\n");

   295

        goto out_return;

   296

    }

   297

   298

    if (master->device) {

   299

        EC_ERR("Master %i already has a device!\n", master_index);

   300

        goto out_up;

   301

    }

   302

   303

    if (!(master->device =

   304

          (ec_device_t *) kmalloc(sizeof(ec_device_t), GFP_KERNEL))) {

   305

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

   306

        goto out_up;

   307

    }

   308

   309

    if (ec_device_init(master->device, master, net_dev, isr, module)) {

   310

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

   311

        goto out_free;

   312

    }

   313

   314

    up(&master->device_sem);

   315

    return master->device;

   316

   317

 out_free:

   318

    kfree(master->device);

   319

    master->device = NULL;

   320

 out_up:

   321

    up(&master->device_sem);

   322

 out_return:

   323

    return NULL;

   324

}

   325

   326

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

   327

   328

/**

   329

   Disconnect an EtherCAT device from the master.

   330

   The device is disconnected from the master and all device ressources

   331

   are freed.

   332

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

   333

   to be called, to be sure that the master does not use the device any more.

   334

   \ingroup DeviceInterface

   335

*/

   336

   337

void ecdev_unregister(unsigned int master_index, /**< master index */

   338

                      ec_device_t *device /**< EtherCAT device */

   339

                      )

   340

{

   341

    ec_master_t *master;

   342

   343

    if (!(master = ec_find_master(master_index))) return;

   344

   345

    down(&master->device_sem);

   346

   347

    if (!master->device || master->device != device) {

   348

        up(&master->device_sem);

   349

        EC_WARN("Unable to unregister device!\n");

   350

        return;

   351

    }

   352

   353

    ec_device_clear(master->device);

   354

    kfree(master->device);

   355

    master->device = NULL;

   356

   357

    up(&master->device_sem);

   358

}

   359

   360

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

   361

   362

/**

   363

   Starts the master associated with the device.

   364

   This function has to be called by the network device driver to tell the

   365

   master that the device is ready to send and receive data. The master

   366

   will enter the idle mode then.

   367

   \ingroup DeviceInterface

   368

*/

   369

   370

int ecdev_start(unsigned int master_index /**< master index */)

   371

{

   372

    ec_master_t *master;

   373

    if (!(master = ec_find_master(master_index))) return -1;

   374

   375

    if (ec_device_open(master->device)) {

   376

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

   377

        return -1;

   378

    }

   379

   380

    ec_master_idle_start(master);

   381

    return 0;

   382

}

   383

   384

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

   385

   386

/**

   387

   Stops the master associated with the device.

   388

   Tells the master to stop using the device for frame IO. Has to be called

   389

   before unregistering the device.

   390

   \ingroup DeviceInterface

   391

*/

   392

   393

void ecdev_stop(unsigned int master_index /**< master index */)

   394

{

   395

    ec_master_t *master;

   396

    if (!(master = ec_find_master(master_index))) return;

   397

   398

    ec_master_idle_stop(master);

   399

   400

    if (ec_device_close(master->device))

   401

        EC_WARN("Failed to close device!\n");

   402

}

   403

   404

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

   405

 *  Realtime interface

   406

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

   407

   408

/**

   409

   Reserves an EtherCAT master for realtime operation.

   410

   \return pointer to reserved master, or NULL on error

   411

   \ingroup RealtimeInterface

   412

*/

   413

   414

ec_master_t *ecrt_request_master(unsigned int master_index

   415

                                 /**< master index */

   416

                                 )

   417

{

   418

    ec_master_t *master;

   419

   420

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

   421

   422

    if (!(master = ec_find_master(master_index))) goto out_return;

   423

   424

    if (!atomic_dec_and_test(&master->available)) {

   425

        atomic_inc(&master->available);

   426

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

   427

        goto out_return;

   428

    }

   429

   430

    if (down_interruptible(&master->device_sem)) {

   431

        EC_ERR("Interrupted while waiting for device!\n");

   432

        goto out_release;

   433

    }

   434

   435

    if (!master->device) {

   436

        up(&master->device_sem);

   437

        EC_ERR("Master %i has no assigned device!\n", master_index);

   438

        goto out_release;

   439

    }

   440

   441

    if (!try_module_get(master->device->module)) {

   442

        up(&master->device_sem);

   443

        EC_ERR("Device module is unloading!\n");

   444

        goto out_release;

   445

    }

   446

   447

    up(&master->device_sem);

   448

   449

    if (!master->device->link_state) {

   450

        EC_ERR("Link is DOWN.\n");

   451

        goto out_module_put;

   452

    }

   453

   454

    ec_master_reset(master); // also stops idle mode

   455

    master->mode = EC_MASTER_MODE_OPERATION;

   456

   457

    if (ec_master_measure_bus_time(master)) {

   458

        EC_ERR("Bus time measuring failed!\n");

   459

        goto out_reset;

   460

    }

   461

   462

    if (ec_master_bus_scan(master)) {

   463

        EC_ERR("Bus scan failed!\n");

   464

        goto out_reset;

   465

    }

   466

   467

    EC_INFO("Successfully requested master %i.\n", master_index);

   468

    return master;

   469

   470

 out_reset:

   471

    ec_master_reset(master);

   472

    ec_master_idle_start(master);

   473

 out_module_put:

   474

    module_put(master->device->module);

   475

 out_release:

   476

    atomic_inc(&master->available);

   477

 out_return:

   478

    EC_ERR("Failed to request master %i.\n", master_index);

   479

    return NULL;

   480

}

   481

   482

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

   483

   484

/**

   485

   Releases a reserved EtherCAT master.

   486