/******************************************************************************
*
* $Id$
*
* Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH
*
* This file is part of the IgH EtherCAT Master.
*
* The IgH EtherCAT Master is free software; you can redistribute it
* and/or modify it under the terms of the GNU General Public License
* as published by the Free Software Foundation; either version 2 of the
* License, or (at your option) any later version.
*
* The IgH EtherCAT Master is distributed in the hope that it will be
* useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with the IgH EtherCAT Master; if not, write to the Free Software
* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
*
* The right to use EtherCAT Technology is granted and comes free of
* charge under condition of compatibility of product made by
* Licensee. People intending to distribute/sell products based on the
* code, have to sign an agreement to guarantee that products using
* software based on IgH EtherCAT master stay compatible with the actual
* EtherCAT specification (which are released themselves as an open
* standard) as the (only) precondition to have the right to use EtherCAT
* Technology, IP and trade marks.
*
*****************************************************************************/
/** \file
* EtherCAT master driver module.
*/
/*****************************************************************************/
#include <linux/module.h>
#include <linux/kernel.h>
#include <linux/init.h>
#include "globals.h"
#include "master.h"
#include "device.h"
#include "xmldev.h"
/*****************************************************************************/
#define MAX_MASTERS 5 /**< Maximum number of masters. */
/*****************************************************************************/
int __init ec_init_module(void);
void __exit ec_cleanup_module(void);
static int ec_mac_parse(uint8_t *, const char *, int);
/*****************************************************************************/
struct kobject kobj; /**< kobject for master module. */
static char *main_devices[MAX_MASTERS]; /**< Main devices parameter. */
static char *backup_devices[MAX_MASTERS]; /**< Backup devices parameter. */
static ec_master_t *masters; /**< Array of masters. */
static struct semaphore master_sem; /**< Master semaphore. */
static unsigned int master_count; /**< Number of masters. */
static unsigned int backup_count; /**< Number of backup devices. */
static uint8_t macs[MAX_MASTERS][2][ETH_ALEN]; /**< MAC addresses. */
static dev_t device_number; /**< XML character device number. */
ec_xmldev_t xmldev; /**< XML character device. */
char *ec_master_version_str = EC_MASTER_VERSION; /**< Version string. */
/*****************************************************************************/
/** \cond */
MODULE_AUTHOR("Florian Pose <fp@igh-essen.com>");
MODULE_DESCRIPTION("EtherCAT master driver module");
MODULE_LICENSE("GPL");
MODULE_VERSION(EC_MASTER_VERSION);
module_param_array(main_devices, charp, &master_count, S_IRUGO);
MODULE_PARM_DESC(main_devices, "MAC addresses of main devices");
module_param_array(backup_devices, charp, &backup_count, S_IRUGO);
MODULE_PARM_DESC(backup_devices, "MAC addresses of backup devices");
/** \endcond */
/*****************************************************************************/
/** Module initialization.
*
* Initializes \a ec_master_count masters.
* \return 0 on success, else < 0
*/
int __init ec_init_module(void)
{
int i, ret = 0;
EC_INFO("Master driver %s\n", EC_MASTER_VERSION);
init_MUTEX(&master_sem);
// init kobject and add it to the hierarchy
memset(&kobj, 0x00, sizeof(struct kobject));
kobject_init(&kobj); // no ktype
if (kobject_set_name(&kobj, "ethercat")) {
EC_ERR("Failed to set module kobject name.\n");
ret = -ENOMEM;
goto out_put;
}
if (kobject_add(&kobj)) {
EC_ERR("Failed to add module kobject.\n");
ret = -EEXIST;
goto out_put;
}
if (alloc_chrdev_region(&device_number, 0, 1, "EtherCAT")) {
EC_ERR("Failed to obtain device number!\n");
ret = -EBUSY;
goto out_del;
}
// zero MAC addresses
memset(macs, 0x00, sizeof(uint8_t) * MAX_MASTERS * 2 * ETH_ALEN);
// process MAC parameters
for (i = 0; i < master_count; i++) {
if (ec_mac_parse(macs[i][0], main_devices[i], 0)) {
ret = -EINVAL;
goto out_cdev;
}
if (i < backup_count && ec_mac_parse(macs[i][1], backup_devices[i], 1)) {
ret = -EINVAL;
goto out_cdev;
}
}
if (master_count) {
if (!(masters = kmalloc(sizeof(ec_master_t) * master_count,
GFP_KERNEL))) {
EC_ERR("Failed to allocate memory for EtherCAT masters.\n");
ret = -ENOMEM;
goto out_cdev;
}
}
for (i = 0; i < master_count; i++) {
if (ec_master_init(&masters[i], &kobj, i, macs[i][0], macs[i][1])) {
ret = -EIO;
goto out_free_masters;
}
}
EC_INFO("%u master%s waiting for devices.\n",
master_count, (master_count == 1 ? "" : "s"));
return ret;
out_free_masters:
for (i--; i >= 0; i--) ec_master_clear(&masters[i]);
kfree(masters);
out_cdev:
unregister_chrdev_region(device_number, 1);
out_del:
kobject_del(&kobj);
out_put:
kobject_put(&kobj);
return ret;
}
/*****************************************************************************/
/** Module cleanup.
*
* Clears all master instances.
*/
void __exit ec_cleanup_module(void)
{
unsigned int i;
for (i = 0; i < master_count; i++) {
ec_master_clear(&masters[i]);
}
if (master_count)
kfree(masters);
unregister_chrdev_region(device_number, 1);
kobject_del(&kobj);
kobject_put(&kobj);
EC_INFO("Master module cleaned up.\n");
}
/*****************************************************************************
* MAC address functions
****************************************************************************/
/**
* \return true, if two MAC addresses are equal.
*/
int ec_mac_equal(const uint8_t *mac1, const uint8_t *mac2)
{
unsigned int i;
for (i = 0; i < ETH_ALEN; i++)
if (mac1[i] != mac2[i])
return 0;
return 1;
}
/*****************************************************************************/
/** Print a MAC address to a buffer.
*
* \return number of bytes written.
*/
ssize_t ec_mac_print(
const uint8_t *mac, /**< MAC address */
char *buffer /**< target buffer */
)
{
off_t off = 0;
unsigned int i;
for (i = 0; i < ETH_ALEN; i++) {
off += sprintf(buffer + off, "%02X", mac[i]);
if (i < ETH_ALEN - 1) off += sprintf(buffer + off, ":");
}
return off;
}
/*****************************************************************************/
/**
* \return true, if the MAC address is all-zero.
*/
int ec_mac_is_zero(const uint8_t *mac)
{
unsigned int i;
for (i = 0; i < ETH_ALEN; i++)
if (mac[i])
return 0;
return 1;
}
/*****************************************************************************/
/**
* \return true, if the given MAC address is the broadcast address.
*/
int ec_mac_is_broadcast(const uint8_t *mac)
{
unsigned int i;
for (i = 0; i < ETH_ALEN; i++)
if (mac[i] != 0xff)
return 0;
return 1;
}
/*****************************************************************************/
/** Parse a MAC address from a string.
*
* The MAC address must follow the regexp
* "([0-9a-fA-F]{2}:){5}[0-9a-fA-F]{2}".
*
* \return 0 on success, else < 0
*/
static int ec_mac_parse(uint8_t *mac, const char *src, int allow_empty)
{
unsigned int i, value;
const char *orig = src;
char *rem;
if (!strlen(src)) {
if (allow_empty){
return 0;
}
else {
EC_ERR("MAC address may not be empty.\n");
return -EINVAL;
}
}
for (i = 0; i < ETH_ALEN; i++) {
value = simple_strtoul(src, &rem, 16);
if (rem != src + 2
|| value > 0xFF
|| (i < ETH_ALEN - 1 && *rem != ':')) {
EC_ERR("Invalid MAC address \"%s\".\n", orig);
return -EINVAL;
}
mac[i] = value;
if (i < ETH_ALEN - 1)
src = rem + 1; // skip colon
}
return 0;
}
/*****************************************************************************/
/** Outputs frame contents for debugging purposes.
*/
void ec_print_data(const uint8_t *data, /**< pointer to data */
size_t size /**< number of bytes to output */
)
{
unsigned int i;
EC_DBG("");
for (i = 0; i < size; i++) {
printk("%02X ", data[i]);
if ((i + 1) % 16 == 0) {
printk("\n");
EC_DBG("");
}
}
printk("\n");
}
/*****************************************************************************/
/** Outputs frame contents and differences for debugging purposes.
*/
void ec_print_data_diff(const uint8_t *d1, /**< first data */
const uint8_t *d2, /**< second data */
size_t size /** number of bytes to output */
)
{
unsigned int i;
EC_DBG("");
for (i = 0; i < size; i++) {
if (d1[i] == d2[i]) printk(".. ");
else printk("%02X ", d2[i]);
if ((i + 1) % 16 == 0) {
printk("\n");
EC_DBG("");
}
}
printk("\n");
}
/*****************************************************************************/
/** Prints slave states in clear text.
*/
size_t ec_state_string(uint8_t states, /**< slave states */
char *buffer /**< target buffer
(min. EC_STATE_STRING_SIZE bytes) */
)
{
off_t off = 0;
unsigned int first = 1;
if (!states) {
off += sprintf(buffer + off, "(unknown)");
return off;
}
if (states & EC_SLAVE_STATE_INIT) {
off += sprintf(buffer + off, "INIT");
first = 0;
}
if (states & EC_SLAVE_STATE_PREOP) {
if (!first) off += sprintf(buffer + off, ", ");
off += sprintf(buffer + off, "PREOP");
first = 0;
}
if (states & EC_SLAVE_STATE_SAFEOP) {
if (!first) off += sprintf(buffer + off, ", ");
off += sprintf(buffer + off, "SAFEOP");
first = 0;
}
if (states & EC_SLAVE_STATE_OP) {
if (!first) off += sprintf(buffer + off, ", ");
off += sprintf(buffer + off, "OP");
}
if (states & EC_SLAVE_STATE_ACK_ERR) {
if (!first) off += sprintf(buffer + off, " + ");
off += sprintf(buffer + off, "ERROR");
}
return off;
}
/******************************************************************************
* Device interface
*****************************************************************************/
/** Offers an EtherCAT device to a certain master.
*
* The master decides, if it wants to use the device for EtherCAT operation,
* or not. It is important, that the offered net_device is not used by the
* kernel IP stack. If the master, accepted the offer, the address of the
* newly created EtherCAT device is written to the ecdev pointer, else the
* pointer is written to zero.
*
* \return 0 on success, else < 0
* \ingroup DeviceInterface
*/
int ecdev_offer(struct net_device *net_dev, /**< net_device to offer */
ec_pollfunc_t poll, /**< device poll function */
struct module *module, /**< pointer to the module */
ec_device_t **ecdev /**< pointer to store a device on success */
)
{
ec_master_t *master;
char str[20];
unsigned int i;
for (i = 0; i < master_count; i++) {
master = &masters[i];
down(&master->device_sem);
if (master->main_device.dev) { // master already has a device
up(&master->device_sem);
continue;
}
if (ec_mac_equal(master->main_mac, net_dev->dev_addr)
|| ec_mac_is_broadcast(master->main_mac)) {
ec_mac_print(net_dev->dev_addr, str);
EC_INFO("Accepting device %s for master %u.\n",
str, master->index);
ec_device_attach(&master->main_device, net_dev, poll, module);
up(&master->device_sem);
sprintf(net_dev->name, "ec%u", master->index);
*ecdev = &master->main_device; // offer accepted
return 0; // no error
}
else {
up(&master->device_sem);
if (master->debug_level) {
ec_mac_print(net_dev->dev_addr, str);
EC_DBG("Master %u declined device %s.\n", master->index, str);
}
}
}
*ecdev = NULL; // offer declined
return 0; // no error
}
/*****************************************************************************/
/** Withdraws an EtherCAT device from the master.
*
* The device is disconnected from the master and all device ressources
* are freed.
*
* \attention Before calling this function, the ecdev_stop() function has
* to be called, to be sure that the master does not use the device
* any more.
* \ingroup DeviceInterface
*/
void ecdev_withdraw(ec_device_t *device /**< EtherCAT device */)
{
ec_master_t *master = device->master;
char str[20];
ec_mac_print(device->dev->dev_addr, str);
EC_INFO("Master %u releasing main device %s.\n", master->index, str);
down(&master->device_sem);
ec_device_detach(device);
up(&master->device_sem);
}
/*****************************************************************************/
/** Opens the network device and makes the master enter IDLE mode.
*
* \return 0 on success, else < 0
* \ingroup DeviceInterface
*/
int ecdev_open(ec_device_t *device /**< EtherCAT device */)
{
if (ec_device_open(device)) {
EC_ERR("Failed to open device!\n");
return -1;
}
if (ec_master_enter_idle_mode(device->master)) {
EC_ERR("Failed to enter idle mode!\n");
return -1;
}
return 0;
}
/*****************************************************************************/
/** Makes the master leave IDLE mode and closes the network device.
*
* \return 0 on success, else < 0
* \ingroup DeviceInterface
*/
void ecdev_close(ec_device_t *device /**< EtherCAT device */)
{
ec_master_leave_idle_mode(device->master);
if (ec_device_close(device))
EC_WARN("Failed to close device!\n");
}
/******************************************************************************
* Realtime interface
*****************************************************************************/
ec_master_t *ecrt_request_master(unsigned int master_index)
{
ec_master_t *master;
EC_INFO("Requesting master %u...\n", master_index);
if (master_index >= master_count) {
EC_ERR("Invalid master index %u.\n", master_index);
goto out_return;
}
master = &masters[master_index];
down(&master_sem);
if (master->reserved) {
up(&master_sem);
EC_ERR("Master %u is already in use!\n", master_index);
goto out_return;
}
master->reserved = 1;
up(&master_sem);
down(&master->device_sem);
if (master->mode != EC_MASTER_MODE_IDLE) {
up(&master->device_sem);
EC_ERR("Master %u still waiting for devices!\n", master_index);
goto out_release;
}
if (!try_module_get(master->main_device.module)) {
up(&master->device_sem);
EC_ERR("Device module is unloading!\n");
goto out_release;
}
up(&master->device_sem);
if (ec_master_enter_operation_mode(master)) {
EC_ERR("Failed to enter OPERATION mode!\n");
goto out_module_put;
}
EC_INFO("Successfully requested master %u.\n", master_index);
return master;
out_module_put:
module_put(master->main_device.module);
out_release:
master->reserved = 0;
out_return:
return NULL;
}
/*****************************************************************************/
void ecrt_release_master(ec_master_t *master)
{
EC_INFO("Releasing master %u...\n", master->index);
if (master->mode != EC_MASTER_MODE_OPERATION) {
EC_WARN("Master %u was was not requested!\n", master->index);
return;
}
ec_master_leave_operation_mode(master);
module_put(master->main_device.module);
master->reserved = 0;
EC_INFO("Released master %u.\n", master->index);
}
/*****************************************************************************/
unsigned int ecrt_version_magic(void)
{
return ECRT_VERSION_MAGIC;
}
/*****************************************************************************/
/** \cond */
module_init(ec_init_module);
module_exit(ec_cleanup_module);
EXPORT_SYMBOL(ecdev_offer);
EXPORT_SYMBOL(ecdev_withdraw);
EXPORT_SYMBOL(ecdev_open);
EXPORT_SYMBOL(ecdev_close);
EXPORT_SYMBOL(ecrt_request_master);
EXPORT_SYMBOL(ecrt_release_master);
EXPORT_SYMBOL(ecrt_version_magic);
/** \endcond */
/*****************************************************************************/