fp@39: /******************************************************************************
fp@0:  *
fp@39:  *  $Id$
fp@0:  *
fp@1618:  *  Copyright (C) 2006  Florian Pose, Ingenieurgemeinschaft IgH
fp@1618:  *
fp@1618:  *  This file is part of the IgH EtherCAT Master.
fp@1618:  *
fp@1618:  *  The IgH EtherCAT Master is free software; you can redistribute it
fp@1618:  *  and/or modify it under the terms of the GNU General Public License
fp@1618:  *  as published by the Free Software Foundation; version 2 of the License.
fp@1618:  *
fp@1618:  *  The IgH EtherCAT Master is distributed in the hope that it will be
fp@1618:  *  useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
fp@1618:  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
fp@1618:  *  GNU General Public License for more details.
fp@1618:  *
fp@1618:  *  You should have received a copy of the GNU General Public License
fp@1618:  *  along with the IgH EtherCAT Master; if not, write to the Free Software
fp@1618:  *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
fp@1618:  *
fp@39:  *****************************************************************************/
fp@0: 
fp@1618: /**
fp@1618:    \file
fp@1618:    EtherCAT device methods.
fp@1618: */
fp@1618: 
fp@1618: /*****************************************************************************/
fp@1618: 
fp@24: #include <linux/module.h>
fp@0: #include <linux/skbuff.h>
fp@0: #include <linux/if_ether.h>
fp@0: #include <linux/netdevice.h>
fp@2: #include <linux/delay.h>
fp@0: 
fp@54: #include "device.h"
fp@78: #include "master.h"
fp@0: 
fp@39: /*****************************************************************************/
fp@0: 
fp@0: /**
fp@195:    Device constructor.
fp@195:    \return 0 in case of success, else < 0
fp@195: */
fp@195: 
fp@195: int ec_device_init(ec_device_t *device, /**< EtherCAT device */
fp@195:                    ec_master_t *master, /**< master owning the device */
fp@195:                    struct net_device *net_dev, /**< net_device structure */
fp@195:                    ec_isr_t isr, /**< pointer to device's ISR */
fp@195:                    struct module *module /**< pointer to the owning module */
fp@78:                    )
fp@78: {
fp@98:     struct ethhdr *eth;
fp@98: 
fp@78:     device->master = master;
fp@98:     device->dev = net_dev;
fp@98:     device->isr = isr;
fp@98:     device->module = module;
fp@98: 
fp@78:     device->open = 0;
fp@96:     device->link_state = 0; // down
fp@78: 
fp@98:     if (!(device->tx_skb = dev_alloc_skb(ETH_HLEN + EC_MAX_FRAME_SIZE))) {
fp@84:         EC_ERR("Error allocating device socket buffer!\n");
fp@73:         return -1;
fp@73:     }
fp@73: 
fp@98:     device->tx_skb->dev = net_dev;
fp@98: 
fp@195:     // add Ethernet-II-header
fp@98:     skb_reserve(device->tx_skb, ETH_HLEN);
fp@98:     eth = (struct ethhdr *) skb_push(device->tx_skb, ETH_HLEN);
fp@98:     eth->h_proto = htons(0x88A4);
fp@98:     memcpy(eth->h_source, net_dev->dev_addr, net_dev->addr_len);
fp@98:     memset(eth->h_dest, 0xFF, net_dev->addr_len);
fp@98: 
fp@73:     return 0;
fp@39: }
fp@39: 
fp@39: /*****************************************************************************/
fp@0: 
fp@0: /**
fp@195:    EtherCAT device destuctor.
fp@195: */
fp@195: 
fp@195: void ec_device_clear(ec_device_t *device /**< EtherCAT device */)
fp@78: {
fp@78:     if (device->open) ec_device_close(device);
fp@98:     if (device->tx_skb) dev_kfree_skb(device->tx_skb);
fp@0: }
fp@0: 
fp@39: /*****************************************************************************/
fp@0: 
fp@0: /**
fp@195:    Opens the EtherCAT device.
fp@195:    \return 0 in case of success, else < 0
fp@195: */
fp@195: 
fp@195: int ec_device_open(ec_device_t *device /**< EtherCAT device */)
fp@0: {
fp@73:     unsigned int i;
fp@73: 
fp@78:     if (!device->dev) {
fp@84:         EC_ERR("No net_device to open!\n");
fp@73:         return -1;
fp@73:     }
fp@73: 
fp@78:     if (device->open) {
fp@84:         EC_WARN("Device already opened!\n");
fp@91:         return 0;
fp@91:     }
fp@91: 
fp@195:     // device could have received frames before
fp@91:     for (i = 0; i < 4; i++) ec_device_call_isr(device);
fp@91: 
fp@96:     device->link_state = 0;
fp@91: 
fp@91:     if (device->dev->open(device->dev) == 0) device->open = 1;
fp@78: 
fp@78:     return device->open ? 0 : -1;
fp@0: }
fp@0: 
fp@39: /*****************************************************************************/
fp@0: 
fp@0: /**
fp@195:    Stops the EtherCAT device.
fp@195:    \return 0 in case of success, else < 0
fp@195: */
fp@195: 
fp@195: int ec_device_close(ec_device_t *device /**< EtherCAT device */)
fp@78: {
fp@78:     if (!device->dev) {
fp@84:         EC_ERR("No device to close!\n");
fp@73:         return -1;
fp@73:     }
fp@73: 
fp@78:     if (!device->open) {
fp@84:         EC_WARN("Device already closed!\n");
fp@98:         return 0;
fp@98:     }
fp@98: 
fp@98:     if (device->dev->stop(device->dev) == 0) device->open = 0;
fp@78: 
fp@78:     return !device->open ? 0 : -1;
fp@73: }
fp@73: 
fp@73: /*****************************************************************************/
fp@73: 
fp@73: /**
fp@195:    Returns a pointer to the device's transmit memory.
fp@195:    \return pointer to the TX socket buffer
fp@195: */
fp@195: 
fp@195: uint8_t *ec_device_tx_data(ec_device_t *device /**< EtherCAT device */)
fp@98: {
fp@98:     return device->tx_skb->data + ETH_HLEN;
fp@0: }
fp@0: 
fp@39: /*****************************************************************************/
fp@0: 
fp@0: /**
fp@195:    Sends the content of the transmit socket buffer.
fp@195:    Cuts the socket buffer content to the (now known) size, and calls the
fp@195:    start_xmit() function of the assigned net_device.
fp@195: */
fp@195: 
fp@195: void ec_device_send(ec_device_t *device, /**< EtherCAT device */
fp@195:                     size_t size /**< number of bytes to send */
fp@73:                     )
fp@73: {
fp@97:     if (unlikely(!device->link_state)) // Link down
fp@96:         return;
fp@96: 
fp@195:     // set the right length for the data
fp@98:     device->tx_skb->len = ETH_HLEN + size;
fp@78: 
fp@78:     if (unlikely(device->master->debug_level > 1)) {
fp@98:         EC_DBG("sending frame:\n");
fp@152:         ec_print_data(device->tx_skb->data + ETH_HLEN, size);
fp@78:     }
fp@73: 
fp@195:     // start sending
fp@78:     device->dev->hard_start_xmit(device->tx_skb, device->dev);
fp@73: }
fp@73: 
fp@73: /*****************************************************************************/
fp@73: 
fp@73: /**
fp@195:    Calls the interrupt service routine of the assigned net_device.
fp@1618:    The master itself works without using interrupts. Therefore the processing
fp@1618:    of received data and status changes of the network device has to be
fp@1618:    done by the master calling the ISR "manually".
fp@195: */
fp@195: 
fp@195: void ec_device_call_isr(ec_device_t *device /**< EtherCAT device */)
fp@78: {
fp@78:     if (likely(device->isr)) device->isr(0, device->dev, NULL);
fp@39: }
fp@39: 
fp@54: /******************************************************************************
fp@195:  *  Device interface
fp@54:  *****************************************************************************/
fp@54: 
fp@78: /**
fp@195:    Accepts a received frame.
fp@1618:    Forwards the received data to the master. The master will analyze the frame
fp@1618:    and dispatch the received commands to the sending instances.
fp@1618:    \ingroup DeviceInterface
fp@195: */
fp@195: 
fp@195: void ecdev_receive(ec_device_t *device, /**< EtherCAT device */
fp@195:                    const void *data, /**< pointer to receibed data */
fp@195:                    size_t size /**< number of bytes received */
fp@104:                    )
fp@73: {
fp@78:     if (unlikely(device->master->debug_level > 1)) {
fp@84:         EC_DBG("Received frame:\n");
fp@152:         ec_print_data_diff(device->tx_skb->data + ETH_HLEN, data, size);
fp@98:     }
fp@98: 
fp@98:     ec_master_receive(device->master, data, size);
fp@54: }
fp@54: 
fp@54: /*****************************************************************************/
fp@54: 
fp@96: /**
fp@195:    Sets a new link state.
fp@1618:    If the device notifies the master about the link being down, the master
fp@1618:    will not try to send frames using this device.
fp@1618:    \ingroup DeviceInterface
fp@195: */
fp@195: 
fp@195: void ecdev_link_state(ec_device_t *device, /**< EtherCAT device */
fp@195:                       uint8_t state /**< new link state */
fp@104:                       )
fp@104: {
fp@191:     if (unlikely(!device)) {
fp@191:         EC_WARN("ecdev_link_state: no device!\n");
fp@191:         return;
fp@191:     }
fp@191: 
fp@104:     if (likely(state != device->link_state)) {
fp@96:         device->link_state = state;
fp@96:         EC_INFO("Link state changed to %s.\n", (state ? "UP" : "DOWN"));
fp@96:     }
fp@96: }
fp@96: 
fp@96: /*****************************************************************************/
fp@96: 
fp@1618: /** \cond */
fp@1618: 
fp@104: EXPORT_SYMBOL(ecdev_receive);
fp@104: EXPORT_SYMBOL(ecdev_link_state);
fp@27: 
fp@1618: /** \endcond */
fp@1618: 
fp@1618: /*****************************************************************************/