--- a/master/device.c Wed Feb 22 17:36:28 2006 +0000
+++ b/master/device.c Thu Feb 23 09:58:50 2006 +0000
@@ -29,32 +29,22 @@
int ec_device_init(ec_device_t *ecd)
{
- ecd->dev = NULL;
- ecd->open = 0;
- ecd->tx_time = 0;
- ecd->rx_time = 0;
- ecd->tx_intr_cnt = 0;
- ecd->rx_intr_cnt = 0;
- ecd->intr_cnt = 0;
- ecd->state = EC_DEVICE_STATE_READY;
- ecd->rx_data_length = 0;
- ecd->isr = NULL;
- ecd->module = NULL;
- ecd->error_reported = 0;
-
- if ((ecd->tx_skb = dev_alloc_skb(EC_FRAME_SIZE)) == NULL) {
- printk(KERN_ERR "EtherCAT: Could not allocate device tx socket buffer!\n");
- return -1;
- }
-
- if ((ecd->rx_skb = dev_alloc_skb(EC_FRAME_SIZE)) == NULL) {
- dev_kfree_skb(ecd->tx_skb);
- ecd->tx_skb = NULL;
- printk(KERN_ERR "EtherCAT: Could not allocate device rx socket buffer!\n");
- return -1;
- }
-
- return 0;
+ ecd->dev = NULL;
+ ecd->open = 0;
+ ecd->tx_time = 0;
+ ecd->rx_time = 0;
+ ecd->state = EC_DEVICE_STATE_READY;
+ ecd->rx_data_length = 0;
+ ecd->isr = NULL;
+ ecd->module = NULL;
+ ecd->error_reported = 0;
+
+ if ((ecd->tx_skb = dev_alloc_skb(ETH_HLEN + EC_MAX_FRAME_SIZE)) == NULL) {
+ printk(KERN_ERR "EtherCAT: Error allocating device socket buffer!\n");
+ return -1;
+ }
+
+ return 0;
}
/*****************************************************************************/
@@ -70,19 +60,14 @@
void ec_device_clear(ec_device_t *ecd)
{
- if (ecd->open) ec_device_close(ecd);
-
- ecd->dev = NULL;
-
- if (ecd->tx_skb) {
- dev_kfree_skb(ecd->tx_skb);
- ecd->tx_skb = NULL;
- }
-
- if (ecd->rx_skb) {
- dev_kfree_skb(ecd->rx_skb);
- ecd->rx_skb = NULL;
- }
+ if (ecd->open) ec_device_close(ecd);
+
+ ecd->dev = NULL;
+
+ if (ecd->tx_skb) {
+ dev_kfree_skb(ecd->tx_skb);
+ ecd->tx_skb = NULL;
+ }
}
/*****************************************************************************/
@@ -102,34 +87,32 @@
int ec_device_open(ec_device_t *ecd)
{
- unsigned int i;
-
- if (!ecd) {
- printk(KERN_ERR "EtherCAT: Trying to open a NULL device!\n");
- return -1;
- }
-
- if (!ecd->dev) {
- printk(KERN_ERR "EtherCAT: No net_device to open!\n");
- return -1;
- }
-
- if (ecd->open) {
- printk(KERN_WARNING "EtherCAT: Device already opened!\n");
- }
- else {
- // Device could have received frames before
- for (i = 0; i < 4; i++) ec_device_call_isr(ecd);
-
- // Reset old device state
- ecd->state = EC_DEVICE_STATE_READY;
- ecd->tx_intr_cnt = 0;
- ecd->rx_intr_cnt = 0;
-
- if (ecd->dev->open(ecd->dev) == 0) ecd->open = 1;
- }
-
- return ecd->open ? 0 : -1;
+ unsigned int i;
+
+ if (!ecd) {
+ printk(KERN_ERR "EtherCAT: Trying to open a NULL device!\n");
+ return -1;
+ }
+
+ if (!ecd->dev) {
+ printk(KERN_ERR "EtherCAT: No net_device to open!\n");
+ return -1;
+ }
+
+ if (ecd->open) {
+ printk(KERN_WARNING "EtherCAT: Device already opened!\n");
+ }
+ else {
+ // Device could have received frames before
+ for (i = 0; i < 4; i++) ec_device_call_isr(ecd);
+
+ // Reset old device state
+ ecd->state = EC_DEVICE_STATE_READY;
+
+ if (ecd->dev->open(ecd->dev) == 0) ecd->open = 1;
+ }
+
+ return ecd->open ? 0 : -1;
}
/*****************************************************************************/
@@ -140,27 +123,42 @@
@param ecd EtherCAT-Gerät
@return 0 bei Erfolg, < 0: Kein Gerät zum Schliessen oder
- Schliessen fehlgeschlagen.
+ Schliessen fehlgeschlagen.
*/
int ec_device_close(ec_device_t *ecd)
{
- if (!ecd->dev) {
- printk(KERN_ERR "EtherCAT: No device to close!\n");
- return -1;
- }
-
- if (!ecd->open) {
- printk(KERN_WARNING "EtherCAT: Device already closed!\n");
- }
- else {
- printk(KERN_INFO "EtherCAT: Stopping device (txcnt: %u, rxcnt: %u)\n",
- (unsigned int) ecd->tx_intr_cnt, (unsigned int) ecd->rx_intr_cnt);
-
- if (ecd->dev->stop(ecd->dev) == 0) ecd->open = 0;
- }
-
- return !ecd->open ? 0 : -1;
+ if (!ecd->dev) {
+ printk(KERN_ERR "EtherCAT: No device to close!\n");
+ return -1;
+ }
+
+ if (!ecd->open) {
+ printk(KERN_WARNING "EtherCAT: Device already closed!\n");
+ }
+ else {
+ if (ecd->dev->stop(ecd->dev) == 0) ecd->open = 0;
+ }
+
+ return !ecd->open ? 0 : -1;
+}
+
+/*****************************************************************************/
+
+/**
+ Bereitet den geräteinternen Socket-Buffer auf den Versand vor.
+
+ \return Zeiger auf den Speicher, in den die Frame-Daten sollen.
+*/
+
+uint8_t *ec_device_prepare(ec_device_t *ecd /**< EtherCAT-Gerät */)
+{
+ // Clear transmit socket buffer and reserve space for Ethernet-II header
+ skb_trim(ecd->tx_skb, 0);
+ skb_reserve(ecd->tx_skb, ETH_HLEN);
+
+ // Erstmal Speicher für maximal langen Frame reservieren
+ return skb_put(ecd->tx_skb, EC_MAX_FRAME_SIZE);
}
/*****************************************************************************/
@@ -172,115 +170,72 @@
Buffer, fügt den Ethernat-II-Header hinzu und ruft die
start_xmit()-Funktion der Netzwerkkarte auf.
- @param ecd EtherCAT-Gerät
- @param data Zeiger auf die zu sendenden Daten
- @param length Länge der zu sendenden Daten
-
- @return 0 bei Erfolg, < 0: Vorheriger Rahmen noch
+ \return 0 bei Erfolg, < 0: Vorheriger Rahmen noch
nicht empfangen, oder kein Speicher mehr vorhanden
*/
-int ec_device_send(ec_device_t *ecd, unsigned char *data, unsigned int length)
-{
- unsigned char *frame_data;
- struct ethhdr *eth;
-
- if (unlikely(ecd->state == EC_DEVICE_STATE_SENT)) {
- printk(KERN_WARNING "EtherCAT: Warning - Trying to send frame while last "
- " was not received!\n");
- }
-
- // Clear transmit socket buffer and reserve
- // space for Ethernet-II header
- skb_trim(ecd->tx_skb, 0);
- skb_reserve(ecd->tx_skb, ETH_HLEN);
-
- // Copy data to socket buffer
- frame_data = skb_put(ecd->tx_skb, length);
- memcpy(frame_data, data, length);
-
- // Add Ethernet-II-Header
- if (unlikely((eth = (struct ethhdr *)
- skb_push(ecd->tx_skb, ETH_HLEN)) == NULL)) {
- printk(KERN_ERR "EtherCAT: device_send -"
- " Could not allocate Ethernet-II header!\n");
- return -1;
- }
-
- // Protocol type
- eth->h_proto = htons(0x88A4);
- // Hardware address
- memcpy(eth->h_source, ecd->dev->dev_addr, ecd->dev->addr_len);
- // Broadcast address
- memset(eth->h_dest, 0xFF, ecd->dev->addr_len);
-
- rdtscl(ecd->tx_time); // Get CPU cycles
-
- // Start sending of frame
- ecd->state = EC_DEVICE_STATE_SENT;
- ecd->dev->hard_start_xmit(ecd->tx_skb, ecd->dev);
-
- return 0;
-}
-
-/*****************************************************************************/
-
-/**
- Holt einen empfangenen Rahmen von der Netzwerkkarte.
-
- Zuerst wird geprüft, ob überhaupt ein Rahmen empfangen
- wurde. Wenn ja, wird dieser in den angegebenen
- Speicherbereich kopiert.
-
- @param ecd EtherCAT-Gerät
- @param data Zeiger auf den Speicherbereich, in den die
- empfangenen Daten kopiert werden sollen
+void ec_device_send(ec_device_t *ecd, /**< EtherCAT-Gerät */
+ unsigned int length /**< Länge der zu sendenden Daten */
+ )
+{
+ struct ethhdr *eth;
+
+ // Framegroesse auf (jetzt bekannte) Laenge abschneiden
+ skb_trim(ecd->tx_skb, length);
+
+ // Ethernet-II-Header hinzufuegen
+ eth = (struct ethhdr *) skb_push(ecd->tx_skb, ETH_HLEN);
+ eth->h_proto = htons(0x88A4);
+ memcpy(eth->h_source, ecd->dev->dev_addr, ecd->dev->addr_len);
+ memset(eth->h_dest, 0xFF, ecd->dev->addr_len);
+
+ ecd->state = EC_DEVICE_STATE_SENT;
+ ecd->rx_data_length = 0;
+
+ // Senden einleiten
+ rdtscl(ecd->tx_time); // Get CPU cycles
+ ecd->dev->hard_start_xmit(ecd->tx_skb, ecd->dev);
+}
+
+/*****************************************************************************/
+
+/**
+ Gibt die Anzahl der empfangenen Bytes zurück.
+
+ \return Empfangene Bytes, oder 0, wenn kein Frame empfangen wurde.
+*/
+
+unsigned int ec_device_received(const ec_device_t *ecd)
+{
+ return ecd->rx_data_length;
+}
+
+/*****************************************************************************/
+
+/**
+ Gibt die empfangenen Daten zurück.
+
+ \return Adresse auf empfangene Daten.
+*/
+
+uint8_t *ec_device_data(ec_device_t *ecd)
+{
+ return ecd->rx_data;
+}
+
+/*****************************************************************************/
+
+/**
+ Ruft die Interrupt-Routine der Netzwerkkarte auf.
+
+ @param ecd EtherCAT-Gerät
@return Anzahl der kopierten Bytes bei Erfolg, sonst < 0
*/
-int ec_device_receive(ec_device_t *ecd, unsigned char *data)
-{
- if (unlikely(ecd->state != EC_DEVICE_STATE_RECEIVED)) {
- if (likely(ecd->error_reported)) {
- printk(KERN_ERR "EtherCAT: receive - Nothing received!\n");
- ecd->error_reported = 1;
- }
- return -1;
- }
-
- if (unlikely(ecd->rx_data_length > EC_FRAME_SIZE)) {
- if (likely(ecd->error_reported)) {
- printk(KERN_ERR "EtherCAT: receive - "
- " Reveived frame is too long (%i Bytes)!\n",
- ecd->rx_data_length);
- ecd->error_reported = 1;
- }
- return -1;
- }
-
- if (unlikely(ecd->error_reported)) {
- ecd->error_reported = 0;
- }
-
- memcpy(data, ecd->rx_data, ecd->rx_data_length);
-
- return ecd->rx_data_length;
-}
-
-/*****************************************************************************/
-
-/**
- Ruft die Interrupt-Routine der Netzwerkkarte auf.
-
- @param ecd EtherCAT-Gerät
-
- @return Anzahl der kopierten Bytes bei Erfolg, sonst < 0
-*/
-
void ec_device_call_isr(ec_device_t *ecd)
{
- if (likely(ecd->isr)) ecd->isr(0, ecd->dev, NULL);
+ if (likely(ecd->isr)) ecd->isr(0, ecd->dev, NULL);
}
/*****************************************************************************/
@@ -291,41 +246,33 @@
@param ecd EtherCAT-Gerät
*/
-void ec_device_debug(ec_device_t *ecd)
-{
- printk(KERN_DEBUG "---EtherCAT device information begin---\n");
-
- if (ecd)
- {
- printk(KERN_DEBUG "Assigned net_device: %X\n",
- (unsigned) ecd->dev);
- printk(KERN_DEBUG "Transmit socket buffer: %X\n",
- (unsigned) ecd->tx_skb);
- printk(KERN_DEBUG "Receive socket buffer: %X\n",
- (unsigned) ecd->rx_skb);
- printk(KERN_DEBUG "Time of last transmission: %u\n",
- (unsigned) ecd->tx_time);
- printk(KERN_DEBUG "Time of last receive: %u\n",
- (unsigned) ecd->rx_time);
- printk(KERN_DEBUG "Number of transmit interrupts: %u\n",
- (unsigned) ecd->tx_intr_cnt);
- printk(KERN_DEBUG "Number of receive interrupts: %u\n",
- (unsigned) ecd->rx_intr_cnt);
- printk(KERN_DEBUG "Total Number of interrupts: %u\n",
- (unsigned) ecd->intr_cnt);
- printk(KERN_DEBUG "Actual device state: %i\n",
- (int) ecd->state);
- printk(KERN_DEBUG "Receive buffer: %X\n",
- (unsigned) ecd->rx_data);
- printk(KERN_DEBUG "Receive buffer fill state: %u/%u\n",
- (unsigned) ecd->rx_data_length, EC_FRAME_SIZE);
- }
- else
- {
- printk(KERN_DEBUG "Device is NULL!\n");
- }
-
- printk(KERN_DEBUG "---EtherCAT device information end---\n");
+void ec_device_print(ec_device_t *ecd)
+{
+ printk(KERN_DEBUG "---EtherCAT device information begin---\n");
+
+ if (ecd)
+ {
+ printk(KERN_DEBUG "Assigned net_device: %X\n",
+ (unsigned) ecd->dev);
+ printk(KERN_DEBUG "Transmit socket buffer: %X\n",
+ (unsigned) ecd->tx_skb);
+ printk(KERN_DEBUG "Time of last transmission: %u\n",
+ (unsigned) ecd->tx_time);
+ printk(KERN_DEBUG "Time of last receive: %u\n",
+ (unsigned) ecd->rx_time);
+ printk(KERN_DEBUG "Actual device state: %i\n",
+ (int) ecd->state);
+ printk(KERN_DEBUG "Receive buffer: %X\n",
+ (unsigned) ecd->rx_data);
+ printk(KERN_DEBUG "Receive buffer fill state: %u/%u\n",
+ (unsigned) ecd->rx_data_length, EC_MAX_FRAME_SIZE);
+ }
+ else
+ {
+ printk(KERN_DEBUG "Device is NULL!\n");
+ }
+
+ printk(KERN_DEBUG "---EtherCAT device information end---\n");
}
/******************************************************************************
@@ -336,36 +283,24 @@
void EtherCAT_dev_state(ec_device_t *ecd, ec_device_state_t state)
{
- if (state == EC_DEVICE_STATE_TIMEOUT && ecd->state != EC_DEVICE_STATE_SENT) {
- printk(KERN_WARNING "EtherCAT: Wrong status at timeout: %i\n", ecd->state);
- }
-
- ecd->state = state;
+ ecd->state = state;
}
/*****************************************************************************/
int EtherCAT_dev_is_ec(ec_device_t *ecd, struct net_device *dev)
{
- return ecd && ecd->dev == dev;
-}
-
-/*****************************************************************************/
-
-int EtherCAT_dev_receive(ec_device_t *ecd, void *data, unsigned int size)
-{
- if (ecd->state != EC_DEVICE_STATE_SENT)
- {
- printk(KERN_WARNING "EtherCAT: Received frame while not in SENT state!\n");
- return -1;
- }
-
- // Copy received data to ethercat-device buffer, skip Ethernet-II header
- memcpy(ecd->rx_data, data, size);
- ecd->rx_data_length = size;
- ecd->state = EC_DEVICE_STATE_RECEIVED;
-
- return 0;
+ return ecd && ecd->dev == dev;
+}
+
+/*****************************************************************************/
+
+void EtherCAT_dev_receive(ec_device_t *ecd, void *data, unsigned int size)
+{
+ // Copy received data to ethercat-device buffer
+ memcpy(ecd->rx_data, data, size);
+ ecd->rx_data_length = size;
+ ecd->state = EC_DEVICE_STATE_RECEIVED;
}
/*****************************************************************************/
@@ -378,6 +313,6 @@
/* Emacs-Konfiguration
;;; Local Variables: ***
-;;; c-basic-offset:2 ***
+;;; c-basic-offset:4 ***
;;; End: ***
*/