fp@27: /******************************************************************************
fp@27:  *
fp@54:  *  m o d u l e . c
fp@27:  *
fp@195:  *  EtherCAT master driver module.
fp@195:  *
fp@195:  *  Author: Florian Pose <fp@igh-essen.com>
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@184: #include "globals.h"
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@1617: #define COMPILE_INFO EC_STR(EC_MASTER_VERSION_MAIN) \
fp@1617:                      "." EC_STR(EC_MASTER_VERSION_SUB) \
fp@1617:                      " (" EC_MASTER_VERSION_EXTRA ")" \
fp@1617:                      " - rev. " EC_STR(SVNREV) \
fp@98:                      ", compiled by " EC_STR(USER) \
fp@98:                      " at " __DATE__ " " __TIME__
fp@39: 
fp@39: /*****************************************************************************/
fp@27: 
fp@178: static int ec_master_count = 1;
fp@178: static struct list_head ec_masters;
fp@27: 
fp@39: /*****************************************************************************/
fp@39: 
fp@64: MODULE_AUTHOR ("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@195: MODULE_PARM_DESC(ec_master_count, "number of EtherCAT masters to initialize");
fp@195: 
fp@195: /*****************************************************************************/
fp@195: 
fp@195: /**
fp@195:    Module initialization.
fp@195:    Initializes \a ec_master_count masters.
fp@195:    \return 0 on success, else < 0
fp@54: */
fp@54: 
fp@54: int __init ec_init_module(void)
fp@27: {
fp@73:     unsigned int i;
fp@178:     ec_master_t *master, *next;
fp@73: 
fp@84:     EC_INFO("Master driver, %s\n", COMPILE_INFO);
fp@73: 
fp@73:     if (ec_master_count < 1) {
fp@111:         EC_ERR("Error - Invalid ec_master_count: %i\n", ec_master_count);
fp@127:         goto out_return;
fp@73:     }
fp@73: 
fp@84:     EC_INFO("Initializing %i EtherCAT master(s)...\n", ec_master_count);
fp@84: 
fp@178:     INIT_LIST_HEAD(&ec_masters);
fp@73: 
fp@73:     for (i = 0; i < ec_master_count; i++) {
fp@178:         if (!(master =
fp@178:               (ec_master_t *) kmalloc(sizeof(ec_master_t), GFP_KERNEL))) {
fp@178:             EC_ERR("Failed to allocate memory for EtherCAT master %i.\n", i);
fp@178:             goto out_free;
fp@178:         }
fp@178: 
fp@178:         if (ec_master_init(master, i)) // kobject_put is done inside...
fp@178:             goto out_free;
fp@178: 
fp@178:         if (kobject_add(&master->kobj)) {
fp@178:             EC_ERR("Failed to add kobj.\n");
fp@178:             kobject_put(&master->kobj); // free master
fp@178:             goto out_free;
fp@178:         }
fp@178: 
fp@178:         list_add_tail(&master->list, &ec_masters);
fp@73:     }
fp@73: 
fp@84:     EC_INFO("Master driver initialized.\n");
fp@73:     return 0;
fp@127: 
fp@178:  out_free:
fp@178:     list_for_each_entry_safe(master, next, &ec_masters, list) {
fp@178:         list_del(&master->list);
fp@178:         kobject_del(&master->kobj);
fp@178:         kobject_put(&master->kobj);
fp@178:     }
fp@127:  out_return:
fp@127:     return -1;
fp@27: }
fp@27: 
fp@39: /*****************************************************************************/
fp@27: 
fp@27: /**
fp@195:    Module cleanup.
fp@195:    Clears all master instances.
fp@27: */
fp@27: 
fp@54: void __exit ec_cleanup_module(void)
fp@27: {
fp@178:     ec_master_t *master, *next;
fp@73: 
fp@84:     EC_INFO("Cleaning up master driver...\n");
fp@73: 
fp@178:     list_for_each_entry_safe(master, next, &ec_masters, list) {
fp@178:         list_del(&master->list);
fp@178:         kobject_del(&master->kobj);
fp@178:         kobject_put(&master->kobj); // free master
fp@178:     }
fp@73: 
fp@84:     EC_INFO("Master driver cleaned up.\n");
fp@27: }
fp@27: 
fp@178: /*****************************************************************************/
fp@178: 
fp@178: /**
fp@178:    Gets a handle to a certain master.
fp@178:    \returns pointer to master
fp@178: */
fp@178: 
fp@195: ec_master_t *ec_find_master(unsigned int master_index /**< master index */)
fp@178: {
fp@178:     ec_master_t *master;
fp@178: 
fp@178:     list_for_each_entry(master, &ec_masters, list) {
fp@178:         if (master->index == master_index) return master;
fp@178:     }
fp@178: 
fp@178:     EC_ERR("Master %i does not exist!\n", master_index);
fp@178:     return NULL;
fp@178: }
fp@178: 
fp@1617: /*****************************************************************************/
fp@1617: 
fp@1617: /**
fp@1617:    Outputs frame contents for debugging purposes.
fp@1617: */
fp@1617: 
fp@1617: void ec_print_data(const uint8_t *data, /**< pointer to data */
fp@1617:                    size_t size /**< number of bytes to output */
fp@1617:                    )
fp@1617: {
fp@1617:     unsigned int i;
fp@1617: 
fp@1617:     EC_DBG("");
fp@1617:     for (i = 0; i < size; i++) {
fp@1617:         printk("%02X ", data[i]);
fp@1617:         if ((i + 1) % 16 == 0) {
fp@1617:             printk("\n");
fp@1617:             EC_DBG("");
fp@1617:         }
fp@1617:     }
fp@1617:     printk("\n");
fp@1617: }
fp@1617: 
fp@1617: /*****************************************************************************/
fp@1617: 
fp@1617: /**
fp@1617:    Outputs frame contents and differences for debugging purposes.
fp@1617: */
fp@1617: 
fp@1617: void ec_print_data_diff(const uint8_t *d1, /**< first data */
fp@1617:                         const uint8_t *d2, /**< second data */
fp@1617:                         size_t size /** number of bytes to output */
fp@1617:                         )
fp@1617: {
fp@1617:     unsigned int i;
fp@1617: 
fp@1617:     EC_DBG("");
fp@1617:     for (i = 0; i < size; i++) {
fp@1617:         if (d1[i] == d2[i]) printk(".. ");
fp@1617:         else printk("%02X ", d2[i]);
fp@1617:         if ((i + 1) % 16 == 0) {
fp@1617:             printk("\n");
fp@1617:             EC_DBG("");
fp@1617:         }
fp@1617:     }
fp@1617:     printk("\n");
fp@1617: }
fp@1617: 
fp@54: /******************************************************************************
fp@195:  *  Device interface
fp@54:  *****************************************************************************/
fp@33: 
fp@33: /**
fp@195:    Registeres an EtherCAT device for a certain master.
fp@195:    \return 0 on success, else < 0
fp@195: */
fp@195: 
fp@195: ec_device_t *ecdev_register(unsigned int master_index, /**< master index */
fp@195:                             struct net_device *net_dev, /**< net_device of
fp@195:                                                            the device */
fp@195:                             ec_isr_t isr, /**< interrupt service routine */
fp@195:                             struct module *module /**< pointer to the module */
fp@104:                             )
fp@91: {
fp@73:     ec_master_t *master;
fp@73: 
fp@98:     if (!net_dev) {
fp@98:         EC_WARN("Device is NULL!\n");
fp@191:         goto out_return;
fp@98:     }
fp@98: 
fp@178:     if (!(master = ec_find_master(master_index))) return NULL;
fp@178: 
fp@178:     // critical section start
fp@98:     if (master->device) {
fp@84:         EC_ERR("Master %i already has a device!\n", master_index);
fp@191:         // critical section leave
fp@191:         goto out_return;
fp@73:     }
fp@73: 
fp@178:     if (!(master->device =
fp@178:           (ec_device_t *) kmalloc(sizeof(ec_device_t), GFP_KERNEL))) {
fp@161:         EC_ERR("Failed to allocate device!\n");
fp@191:         // critical section leave
fp@191:         goto out_return;
fp@98:     }
fp@178:     // critical section end
fp@98: 
fp@127:     if (ec_device_init(master->device, master, net_dev, isr, module)) {
fp@191:         EC_ERR("Failed to init device!\n");
fp@191:         goto out_free;
fp@127:     }
fp@98: 
fp@98:     return master->device;
fp@191: 
fp@191:  out_free:
fp@191:     kfree(master->device);
fp@191:     master->device = NULL;
fp@191:  out_return:
fp@191:     return NULL;
fp@91: }
fp@91: 
fp@91: /*****************************************************************************/
fp@91: 
fp@91: /**
fp@195:    Unregisteres an EtherCAT device.
fp@195: */
fp@195: 
fp@195: void ecdev_unregister(unsigned int master_index, /**< master index */
fp@195:                       ec_device_t *device /**< EtherCAT device */
fp@104:                       )
fp@55: {
fp@73:     ec_master_t *master;
fp@73: 
fp@178:     if (!(master = ec_find_master(master_index))) return;
fp@73: 
fp@98:     if (!master->device || master->device != device) {
fp@84:         EC_WARN("Unable to unregister device!\n");
fp@73:         return;
fp@73:     }
fp@73: 
fp@98:     ec_device_clear(master->device);
fp@98:     kfree(master->device);
fp@98:     master->device = NULL;
fp@54: }
fp@54: 
fp@191: /*****************************************************************************/
fp@191: 
fp@191: /**
fp@195:    Starts the master associated with the device.
fp@195: */
fp@195: 
fp@195: int ecdev_start(unsigned int master_index /**< master index */)
fp@191: {
fp@191:     ec_master_t *master;
fp@191:     if (!(master = ec_find_master(master_index))) return -1;
fp@191: 
fp@191:     if (ec_device_open(master->device)) {
fp@191:         EC_ERR("Failed to open device!\n");
fp@191:         return -1;
fp@191:     }
fp@191: 
fp@191:     ec_master_freerun_start(master);
fp@191:     return 0;
fp@191: }
fp@191: 
fp@191: /*****************************************************************************/
fp@191: 
fp@191: /**
fp@195:    Stops the master associated with the device.
fp@195: */
fp@195: 
fp@195: void ecdev_stop(unsigned int master_index /**< master index */)
fp@191: {
fp@191:     ec_master_t *master;
fp@191:     if (!(master = ec_find_master(master_index))) return;
fp@191: 
fp@191:     ec_master_freerun_stop(master);
fp@191: 
fp@191:     if (ec_device_close(master->device))
fp@191:         EC_WARN("Failed to close device!\n");
fp@191: }
fp@191: 
fp@54: /******************************************************************************
fp@195:  *  Realtime interface
fp@54:  *****************************************************************************/
fp@33: 
fp@33: /**
fp@195:    Reserves an EtherCAT master for realtime operation.
fp@195:    \return pointer to reserved master, or NULL on error
fp@91: */
fp@91: 
fp@178: ec_master_t *ecrt_request_master(unsigned int master_index
fp@195:                                  /**< master index */
fp@104:                                  )
fp@54: {
fp@73:     ec_master_t *master;
fp@73: 
fp@178:     EC_INFO("Requesting master %i...\n", master_index);
fp@178: 
fp@191:     if (!(master = ec_find_master(master_index))) goto out_return;
fp@178: 
fp@178:     // begin critical section
fp@178:     if (master->reserved) {
fp@178:         EC_ERR("Master %i is already in use!\n", master_index);
fp@191:         goto out_return;
fp@73:     }
fp@178:     master->reserved = 1;
fp@178:     // end critical section
fp@73: 
fp@98:     if (!master->device) {
fp@178:         EC_ERR("Master %i has no assigned device!\n", master_index);
fp@191:         goto out_release;
fp@73:     }
fp@73: 
fp@98:     if (!try_module_get(master->device->module)) {
fp@84:         EC_ERR("Failed to reserve device module!\n");
fp@191:         goto out_release;
fp@191:     }
fp@191: 
fp@191:     ec_master_freerun_stop(master);
fp@191:     ec_master_reset(master);
fp@191:     master->mode = EC_MASTER_MODE_RUNNING;
fp@73: 
fp@178:     if (!master->device->link_state) EC_WARN("Link is DOWN.\n");
fp@178: 
fp@178:     if (ec_master_bus_scan(master)) {
fp@84:         EC_ERR("Bus scan failed!\n");
fp@191:         goto out_module_put;
fp@73:     }
fp@73: 
fp@178:     EC_INFO("Master %i is ready.\n", master_index);
fp@73:     return master;
fp@54: 
fp@191:  out_module_put:
fp@98:     module_put(master->device->module);
fp@85:     ec_master_reset(master);
fp@191:  out_release:
fp@178:     master->reserved = 0;
fp@191:  out_return:
fp@178:     EC_ERR("Failed requesting master %i.\n", master_index);
fp@73:     return NULL;
fp@27: }
fp@27: 
fp@39: /*****************************************************************************/
fp@33: 
fp@33: /**
fp@195:    Releases a reserved EtherCAT master.
fp@195: */
fp@195: 
fp@195: void ecrt_release_master(ec_master_t *master /**< EtherCAT master */)
fp@33: {
fp@178:     EC_INFO("Releasing master %i...\n", master->index);
fp@178: 
fp@178:     if (!master->reserved) {
fp@178:         EC_ERR("Master %i was never requested!\n", master->index);
fp@88:         return;
fp@88:     }
fp@88: 
fp@88:     ec_master_reset(master);
fp@88: 
fp@191:     master->mode = EC_MASTER_MODE_IDLE;
fp@191:     ec_master_freerun_start(master);
fp@151: 
fp@98:     module_put(master->device->module);
fp@178:     master->reserved = 0;
fp@178: 
fp@178:     EC_INFO("Released master %i.\n", master->index);
fp@88:     return;
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@104: EXPORT_SYMBOL(ecdev_register);
fp@104: EXPORT_SYMBOL(ecdev_unregister);
fp@191: EXPORT_SYMBOL(ecdev_start);
fp@191: EXPORT_SYMBOL(ecdev_stop);
fp@104: EXPORT_SYMBOL(ecrt_request_master);
fp@104: EXPORT_SYMBOL(ecrt_release_master);
fp@54: 
fp@54: /*****************************************************************************/