fp@27: /******************************************************************************
fp@27:  *
fp@54:  *  m o d u l e . c
fp@27:  *
fp@27:  *  EtherCAT-Master-Treiber
fp@27:  *
fp@27:  *  Autoren: Wilhelm Hagemeister, Florian Pose
fp@27:  *
fp@27:  *  $Id$
fp@27:  *
fp@27:  *  (C) Copyright IgH 2005
fp@27:  *  Ingenieurgemeinschaft IgH
fp@27:  *  Heinz-Bäcker Str. 34
fp@27:  *  D-45356 Essen
fp@27:  *  Tel.: +49 201/61 99 31
fp@27:  *  Fax.: +49 201/61 98 36
fp@27:  *  E-mail: sp@igh-essen.com
fp@27:  *
fp@39:  *****************************************************************************/
fp@27: 
fp@27: #include <linux/module.h>
fp@27: #include <linux/kernel.h>
fp@27: #include <linux/init.h>
fp@27: 
fp@54: #include "master.h"
fp@54: #include "device.h"
fp@54: 
fp@54: /*****************************************************************************/
fp@54: 
fp@54: int __init ec_init_module(void);
fp@54: void __exit ec_cleanup_module(void);
fp@52: 
fp@39: /*****************************************************************************/
fp@39: 
fp@39: #define LIT(X) #X
fp@39: #define STR(X) LIT(X)
fp@39: 
fp@39: #define COMPILE_INFO "Revision " STR(EC_REV) \
fp@39:                      ", compiled by " STR(EC_USER) \
fp@39:                      " at " STR(EC_DATE)
fp@39: 
fp@39: /*****************************************************************************/
fp@27: 
fp@54: int ec_master_count = 1;
fp@54: ec_master_t *ec_masters = NULL;
fp@54: int *ec_masters_reserved = NULL;
fp@27: 
fp@39: /*****************************************************************************/
fp@39: 
fp@39: MODULE_AUTHOR ("Wilhelm Hagemeister <hm@igh-essen.com>,"
fp@39:                "Florian Pose <fp@igh-essen.com>");
fp@27: MODULE_DESCRIPTION ("EtherCAT master driver module");
fp@27: MODULE_LICENSE("GPL");
fp@34: MODULE_VERSION(COMPILE_INFO);
fp@27: 
fp@54: module_param(ec_master_count, int, 1);
fp@54: MODULE_PARM_DESC(ec_master_count, "Number of EtherCAT master to initialize.");
fp@27: 
fp@39: /*****************************************************************************/
fp@27: 
fp@27: /**
fp@27:    Init-Funktion des EtherCAT-Master-Treibermodules
fp@27: 
fp@54:    Initialisiert soviele Master, wie im Parameter ec_master_count
fp@27:    angegeben wurde (Default ist 1).
fp@27: 
fp@27:    @returns 0, wenn alles o.k., -1 bei ungueltiger Anzahl Master
fp@54:    oder zu wenig Speicher.
fp@54: */
fp@54: 
fp@54: int __init ec_init_module(void)
fp@27: {
fp@27:   unsigned int i;
fp@27: 
fp@34:   printk(KERN_ERR "EtherCAT: Master driver, %s\n", COMPILE_INFO);
fp@27: 
fp@54:   if (ec_master_count < 1) {
fp@39:     printk(KERN_ERR "EtherCAT: Error - Illegal"
fp@54:            " ec_master_count: %i\n", ec_master_count);
fp@27:     return -1;
fp@27:   }
fp@27: 
fp@27:   printk(KERN_ERR "EtherCAT: Initializing %i EtherCAT master(s)...\n",
fp@54:          ec_master_count);
fp@54: 
fp@54:   if ((ec_masters =
fp@54:        (ec_master_t *) kmalloc(sizeof(ec_master_t)
fp@54:                                * ec_master_count,
fp@54:                                GFP_KERNEL)) == NULL) {
fp@39:     printk(KERN_ERR "EtherCAT: Could not allocate"
fp@39:            " memory for EtherCAT master(s)!\n");
fp@39:     return -1;
fp@39:   }
fp@39: 
fp@54:   if ((ec_masters_reserved =
fp@54:        (int *) kmalloc(sizeof(int) * ec_master_count,
fp@39:                        GFP_KERNEL)) == NULL) {
fp@39:     printk(KERN_ERR "EtherCAT: Could not allocate"
fp@39:            " memory for reservation flags!\n");
fp@54:     kfree(ec_masters);
fp@33:     return -1;
fp@33:   }
fp@33: 
fp@54:   for (i = 0; i < ec_master_count; i++)
fp@27:   {
fp@54:     ec_master_init(&ec_masters[i]);
fp@54:     ec_masters_reserved[i] = 0;
fp@27:   }
fp@27: 
fp@27:   printk(KERN_ERR "EtherCAT: Master driver initialized.\n");
fp@27: 
fp@27:   return 0;
fp@27: }
fp@27: 
fp@39: /*****************************************************************************/
fp@27: 
fp@27: /**
fp@27:    Cleanup-Funktion des EtherCAT-Master-Treibermoduls
fp@27: 
fp@27:    Entfernt alle Master-Instanzen.
fp@27: */
fp@27: 
fp@54: void __exit ec_cleanup_module(void)
fp@27: {
fp@27:   unsigned int i;
fp@27: 
fp@27:   printk(KERN_ERR "EtherCAT: Cleaning up master driver...\n");
fp@27: 
fp@54:   if (ec_masters)
fp@27:   {
fp@54:     for (i = 0; i < ec_master_count; i++)
fp@27:     {
fp@54:       if (ec_masters_reserved[i]) {
fp@39:         printk(KERN_WARNING "EtherCAT: Warning -"
fp@39:                " Master %i is still in use!\n", i);
fp@33:       }
fp@33: 
fp@54:       ec_master_clear(&ec_masters[i]);
fp@27:     }
fp@27: 
fp@54:     kfree(ec_masters);
fp@27:   }
fp@27: 
fp@27:   printk(KERN_ERR "EtherCAT: Master driver cleaned up.\n");
fp@27: }
fp@27: 
fp@54: /******************************************************************************
fp@54:  *
fp@54:  * Treiberschnittstelle
fp@54:  *
fp@54:  *****************************************************************************/
fp@33: 
fp@33: /**
fp@33:    Setzt das EtherCAT-Geraet, auf dem der Master arbeitet.
fp@33: 
fp@33: 
fp@33:    @param master Der EtherCAT-Master
fp@33:    @param device Das EtherCAT-Geraet
fp@33:    @return 0, wenn alles o.k.,
fp@54:    < 0, wenn bereits ein Geraet registriert
fp@54:    oder das Geraet nicht geoeffnet werden konnte.
fp@54: */
fp@54: 
fp@54: ec_device_t *EtherCAT_dev_register(unsigned int master_index,
fp@54:                                    struct net_device *dev,
fp@54:                                    irqreturn_t (*isr)(int, void *,
fp@54:                                                       struct pt_regs *),
fp@54:                                    struct module *module)
fp@54: {
fp@54:   ec_device_t *ecd;
fp@55:   ec_master_t *master;
fp@54: 
fp@54:   if (master_index >= ec_master_count) {
fp@54:     printk(KERN_ERR "EtherCAT: Master %i does not exist!\n", master_index);
fp@54:     return NULL;
fp@54:   }
fp@54: 
fp@54:   if (!dev) {
fp@54:     printk("EtherCAT: Device is NULL!\n");
fp@54:     return NULL;
fp@54:   }
fp@54: 
fp@55:   master = ec_masters + master_index;
fp@55: 
fp@55:   if (master->device_registered) {
fp@54:     printk(KERN_ERR "EtherCAT: Master %i already has a device!\n",
fp@54:            master_index);
fp@54:     return NULL;
fp@54:   }
fp@54: 
fp@55:   ecd = &master->device;
fp@54: 
fp@54:   if (ec_device_init(ecd) < 0) {
fp@54:     return NULL;
fp@54:   }
fp@54: 
fp@54:   ecd->dev = dev;
fp@54:   ecd->tx_skb->dev = dev;
fp@54:   ecd->rx_skb->dev = dev;
fp@54:   ecd->isr = isr;
fp@54:   ecd->module = module;
fp@54: 
fp@55:   master->device_registered = 1;
fp@55: 
fp@54:   return ecd;
fp@33: }
fp@33: 
fp@39: /*****************************************************************************/
fp@33: 
fp@33: /**
fp@33:    Loescht das EtherCAT-Geraet, auf dem der Master arbeitet.
fp@33: 
fp@33:    @param master Der EtherCAT-Master
fp@33:    @param device Das EtherCAT-Geraet
fp@33: */
fp@33: 
fp@55: void EtherCAT_dev_unregister(unsigned int master_index, ec_device_t *ecd)
fp@55: {
fp@55:   ec_master_t *master;
fp@55: 
fp@54:   if (master_index >= ec_master_count) {
fp@54:     printk(KERN_WARNING "EtherCAT: Master %i does not exist!\n", master_index);
fp@33:     return;
fp@33:   }
fp@33: 
fp@55:   master = ec_masters + master_index;
fp@55: 
fp@55:   if (!master->device_registered || &master->device != ecd) {
fp@55:     printk(KERN_ERR "EtherCAT: Unable to unregister device!\n");
fp@55:     return;
fp@55:   }
fp@55: 
fp@55:   master->device_registered = 0;
fp@55:   ec_device_clear(ecd);
fp@54: }
fp@54: 
fp@54: /******************************************************************************
fp@54:  *
fp@54:  * Echtzeitschnittstelle
fp@54:  *
fp@54:  *****************************************************************************/
fp@33: 
fp@33: /**
fp@33:    Reserviert einen bestimmten EtherCAT-Master und das zugehörige Gerät.
fp@33: 
fp@33:    Gibt einen Zeiger auf den reservierten EtherCAT-Master zurueck.
fp@27: 
fp@27:    @param index Index des gewuenschten Masters
fp@27:    @returns Zeiger auf EtherCAT-Master oder NULL, wenn Parameter ungueltig.
fp@27: */
fp@27: 
fp@55: ec_master_t *EtherCAT_rt_request_master(unsigned int index)
fp@54: {
fp@54:   ec_master_t *master;
fp@54: 
fp@54:   if (index < 0 || index >= ec_master_count) {
fp@27:     printk(KERN_ERR "EtherCAT: Master %i does not exist!\n", index);
fp@54:     goto req_return;
fp@54:   }
fp@54: 
fp@54:   if (ec_masters_reserved[index]) {
fp@33:     printk(KERN_ERR "EtherCAT: Master %i already in use!\n", index);
fp@54:     goto req_return;
fp@54:   }
fp@54: 
fp@54:   master = &ec_masters[index];
fp@54: 
fp@54:   if (!master->device_registered) {
fp@39:     printk(KERN_ERR "EtherCAT: Master %i has no device assigned yet!\n",
fp@39:            index);
fp@54:     goto req_return;
fp@54:   }
fp@54: 
fp@54:   if (!try_module_get(master->device.module)) {
fp@33:     printk(KERN_ERR "EtherCAT: Could not reserve device module!\n");
fp@54:     goto req_return;
fp@54:   }
fp@54: 
fp@54:   if (ec_master_open(master) < 0) {
fp@54:     printk(KERN_ERR "EtherCAT: Could not open device!\n");
fp@54:     goto req_module_put;
fp@54:   }
fp@54: 
fp@54:   if (ec_scan_for_slaves(master) != 0) {
fp@54:     printk(KERN_ERR "EtherCAT: Could not scan for slaves!\n");
fp@54:     goto req_close;
fp@54:   }
fp@54: 
fp@54:   ec_masters_reserved[index] = 1;
fp@33:   printk(KERN_INFO "EtherCAT: Reserved master %i.\n", index);
fp@33: 
fp@54:   return master;
fp@54: 
fp@54:  req_close:
fp@54:   ec_master_close(master);
fp@54: 
fp@54:  req_module_put:
fp@54:   module_put(master->device.module);
fp@54: 
fp@54:  req_return:
fp@54:   return NULL;
fp@27: }
fp@27: 
fp@39: /*****************************************************************************/
fp@33: 
fp@33: /**
fp@42:    Gibt einen zuvor angeforderten EtherCAT-Master wieder frei.
fp@33: 
fp@33:    @param master Zeiger auf den freizugebenden EtherCAT-Master.
fp@33: */
fp@33: 
fp@54: void EtherCAT_rt_release_master(ec_master_t *master)
fp@33: {
fp@33:   unsigned int i;
fp@33: 
fp@54:   for (i = 0; i < ec_master_count; i++)
fp@33:   {
fp@54:     if (&ec_masters[i] == master)
fp@33:     {
fp@54:       if (!master->device_registered) {
fp@33:         printk(KERN_WARNING "EtherCAT: Could not release device"
fp@33:                "module because of no device!\n");
fp@33:         return;
fp@33:       }
fp@33: 
fp@54:       ec_master_close(master);
fp@56:       ec_master_reset(master);
fp@56: 
fp@54:       module_put(master->device.module);
fp@54:       ec_masters_reserved[i] = 0;
fp@33: 
fp@33:       printk(KERN_INFO "EtherCAT: Released master %i.\n", i);
fp@33: 
fp@33:       return;
fp@33:     }
fp@33:   }
fp@33: 
fp@42:   printk(KERN_WARNING "EtherCAT: Master %X was never requested!\n",
fp@33:          (unsigned int) master);
fp@33: }
fp@33: 
fp@39: /*****************************************************************************/
fp@54: 
fp@54: module_init(ec_init_module);
fp@54: module_exit(ec_cleanup_module);
fp@54: 
fp@54: EXPORT_SYMBOL(EtherCAT_dev_register);
fp@54: EXPORT_SYMBOL(EtherCAT_dev_unregister);
fp@54: EXPORT_SYMBOL(EtherCAT_rt_request_master);
fp@54: EXPORT_SYMBOL(EtherCAT_rt_release_master);
fp@54: 
fp@54: /*****************************************************************************/
fp@55: 
fp@55: /* Emacs-Konfiguration
fp@55: ;;; Local Variables: ***
fp@55: ;;; c-basic-offset:2 ***
fp@55: ;;; End: ***
fp@55: */