/******************************************************************************
*
* $Id$
*
* 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"
/*****************************************************************************/
int __init ec_init_module(void);
void __exit ec_cleanup_module(void);
/*****************************************************************************/
static int ec_master_count = 1; /**< parameter value, number of masters */
static int ec_eoeif_count = 0; /**< parameter value, number of EoE interf. */
static struct list_head ec_masters; /**< list of masters */
static dev_t device_number;
char *ec_master_version_str = EC_MASTER_VERSION;
/*****************************************************************************/
/** \cond */
module_param(ec_master_count, int, S_IRUGO);
module_param(ec_eoeif_count, int, S_IRUGO);
MODULE_AUTHOR("Florian Pose <fp@igh-essen.com>");
MODULE_DESCRIPTION("EtherCAT master driver module");
MODULE_LICENSE("GPL");
MODULE_VERSION(EC_MASTER_VERSION);
MODULE_PARM_DESC(ec_master_count, "number of EtherCAT masters to initialize");
MODULE_PARM_DESC(ec_eoeif_count, "number of EoE interfaces per master");
/** \endcond */
/*****************************************************************************/
/**
Module initialization.
Initializes \a ec_master_count masters.
\return 0 on success, else < 0
*/
int __init ec_init_module(void)
{
unsigned int i;
ec_master_t *master, *next;
EC_INFO("Master driver %s\n", EC_MASTER_VERSION);
if (ec_master_count < 1) {
EC_ERR("Invalid ec_master_count: %i\n", ec_master_count);
goto out_return;
}
if (alloc_chrdev_region(&device_number, 0, ec_master_count, "EtherCAT")) {
EC_ERR("Failed to allocate device number!\n");
goto out_return;
}
EC_INFO("Initializing %i EtherCAT master(s)...\n", ec_master_count);
INIT_LIST_HEAD(&ec_masters);
for (i = 0; i < ec_master_count; i++) {
if (!(master =
(ec_master_t *) kmalloc(sizeof(ec_master_t), GFP_KERNEL))) {
EC_ERR("Failed to allocate memory for EtherCAT master %i.\n", i);
goto out_free;
}
if (ec_master_init(master, i, ec_eoeif_count, device_number))
goto out_free;
list_add_tail(&master->list, &ec_masters);
}
EC_INFO("Master driver initialized.\n");
return 0;
out_free:
list_for_each_entry_safe(master, next, &ec_masters, list) {
list_del(&master->list);
kobject_del(&master->kobj);
kobject_put(&master->kobj);
}
out_return:
return -1;
}
/*****************************************************************************/
/**
Module cleanup.
Clears all master instances.
*/
void __exit ec_cleanup_module(void)
{
ec_master_t *master, *next;
EC_INFO("Cleaning up master driver...\n");
list_for_each_entry_safe(master, next, &ec_masters, list) {
list_del(&master->list);
ec_master_destroy(master);
}
unregister_chrdev_region(device_number, ec_master_count);
EC_INFO("Master driver cleaned up.\n");
}
/*****************************************************************************/
/**
Gets a handle to a certain master.
\returns pointer to master
*/
ec_master_t *ec_find_master(unsigned int master_index /**< master index */)
{
ec_master_t *master;
list_for_each_entry(master, &ec_masters, list) {
if (master->index == master_index) return master;
}
EC_ERR("Master %i does not exist!\n", master_index);
return NULL;
}
/*****************************************************************************/
/**
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_SAVEOP) {
if (!first) off += sprintf(buffer + off, ", ");
off += sprintf(buffer + off, "SAVEOP");
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
*****************************************************************************/
/**
Connects an EtherCAT device to a certain master.
The master will use the device for sending and receiving frames. It is
required that no other instance (for example the kernel IP stack) uses
the device.
\return 0 on success, else < 0
\ingroup DeviceInterface
*/
ec_device_t *ecdev_register(unsigned int master_index, /**< master index */
struct net_device *net_dev, /**< net_device of
the device */
ec_pollfunc_t poll, /**< device poll function */
struct module *module /**< pointer to the module */
)
{
ec_master_t *master;
if (!(master = ec_find_master(master_index))) return NULL;
if (down_interruptible(&master->device_sem)) {
EC_ERR("Interrupted while waiting for device!\n");
goto out_return;
}
if (master->device) {
EC_ERR("Master %i already has a device!\n", master_index);
goto out_up;
}
if (!(master->device =
(ec_device_t *) kmalloc(sizeof(ec_device_t), GFP_KERNEL))) {
EC_ERR("Failed to allocate device!\n");
goto out_up;
}
if (ec_device_init(master->device, master, net_dev, poll, module)) {
EC_ERR("Failed to init device!\n");
goto out_free;
}
up(&master->device_sem);
return master->device;
out_free:
kfree(master->device);
master->device = NULL;
out_up:
up(&master->device_sem);
out_return:
return NULL;
}
/*****************************************************************************/
/**
Disconnect 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_unregister(unsigned int master_index, /**< master index */
ec_device_t *device /**< EtherCAT device */
)
{
ec_master_t *master;
if (!(master = ec_find_master(master_index))) return;
down(&master->device_sem);
if (!master->device || master->device != device) {
up(&master->device_sem);
EC_WARN("Unable to unregister device!\n");
return;
}
ec_device_clear(master->device);
kfree(master->device);
master->device = NULL;
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
*****************************************************************************/
/**
* Returns the version magic of the realtime interface.
* \return ECRT version magic.
* \ingroup RealtimeInterface
*/
unsigned int ecrt_version_magic(void)
{
return ECRT_VERSION_MAGIC;
}
/*****************************************************************************/
/**
Reserves an EtherCAT master for realtime operation.
\return pointer to reserved master, or NULL on error
\ingroup RealtimeInterface
*/
ec_master_t *ecrt_request_master(unsigned int master_index
/**< master index */
)
{
ec_master_t *master;
EC_INFO("Requesting master %i...\n", master_index);
if (!(master = ec_find_master(master_index))) goto out_return;
if (!atomic_dec_and_test(&master->available)) {
atomic_inc(&master->available);
EC_ERR("Master %i is already in use!\n", master_index);
goto out_return;
}
if (down_interruptible(&master->device_sem)) {
EC_ERR("Interrupted while waiting for device!\n");
goto out_release;
}
if (!master->device) {
up(&master->device_sem);
EC_ERR("Master %i has no assigned device!\n", master_index);
goto out_release;
}
if (!try_module_get(master->device->module)) {
up(&master->device_sem);
EC_ERR("Device module is unloading!\n");
goto out_release;
}
up(&master->device_sem);
if (!master->device->link_state) {
EC_ERR("Link is DOWN.\n");
goto out_module_put;
}
if (ec_master_enter_operation_mode(master)) {
EC_ERR("Failed to enter OPERATION mode!\n");
goto out_module_put;
}
EC_INFO("Successfully requested master %i.\n", master_index);
return master;
out_module_put:
module_put(master->device->module);
out_release:
atomic_inc(&master->available);
out_return:
return NULL;
}
/*****************************************************************************/
/**
Releases a reserved EtherCAT master.
\ingroup RealtimeInterface
*/
void ecrt_release_master(ec_master_t *master /**< EtherCAT master */)
{
EC_INFO("Releasing master %i...\n", master->index);
if (master->mode != EC_MASTER_MODE_OPERATION) {
EC_WARN("Master %i was was not requested!\n", master->index);
return;
}
ec_master_leave_operation_mode(master);
module_put(master->device->module);
atomic_inc(&master->available);
EC_INFO("Released master %i.\n", master->index);
}
/*****************************************************************************/
/** \cond */
module_init(ec_init_module);
module_exit(ec_cleanup_module);
EXPORT_SYMBOL(ecdev_register);
EXPORT_SYMBOL(ecdev_unregister);
EXPORT_SYMBOL(ecdev_open);
EXPORT_SYMBOL(ecdev_close);
EXPORT_SYMBOL(ecrt_request_master);
EXPORT_SYMBOL(ecrt_release_master);
EXPORT_SYMBOL(ecrt_version_magic);
/** \endcond */
/*****************************************************************************/