diff -r 5cff10efb927 -r 0d4119024f55 master/ethernet.c --- a/master/ethernet.c Mon Apr 24 10:47:03 2006 +0000 +++ b/master/ethernet.c Mon May 29 09:08:56 2006 +0000 @@ -8,7 +8,8 @@ * * 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; version 2 of the 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 @@ -19,6 +20,15 @@ * 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. + * *****************************************************************************/ /** @@ -28,6 +38,8 @@ /*****************************************************************************/ +#include + #include "../include/ecrt.h" #include "globals.h" #include "master.h" @@ -35,26 +47,210 @@ #include "mailbox.h" #include "ethernet.h" +#define EOE_DEBUG_LEVEL 0 + +/*****************************************************************************/ + +void ec_eoe_flush(ec_eoe_t *); + +// state functions +void ec_eoe_state_rx_start(ec_eoe_t *); +void ec_eoe_state_rx_check(ec_eoe_t *); +void ec_eoe_state_rx_fetch(ec_eoe_t *); +void ec_eoe_state_tx_start(ec_eoe_t *); +void ec_eoe_state_tx_sent(ec_eoe_t *); + +// net_device functions +int ec_eoedev_open(struct net_device *); +int ec_eoedev_stop(struct net_device *); +int ec_eoedev_tx(struct sk_buff *, struct net_device *); +struct net_device_stats *ec_eoedev_stats(struct net_device *); + /*****************************************************************************/ /** EoE constructor. -*/ - -void ec_eoe_init(ec_eoe_t *eoe, ec_slave_t *slave) -{ - eoe->slave = slave; - eoe->rx_state = EC_EOE_IDLE; + Initializes the EoE handler, creates a net_device and registeres it. +*/ + +int ec_eoe_init(ec_eoe_t *eoe /**< EoE handler */) +{ + ec_eoe_t **priv; + int result, i; + + eoe->slave = NULL; + eoe->state = ec_eoe_state_rx_start; + eoe->opened = 0; + eoe->rx_skb = NULL; + eoe->rx_expected_fragment = 0; + INIT_LIST_HEAD(&eoe->tx_queue); + eoe->tx_frame = NULL; + eoe->tx_queue_active = 0; + eoe->tx_queued_frames = 0; + eoe->tx_queue_lock = SPIN_LOCK_UNLOCKED; + eoe->tx_frame_number = 0xFF; + memset(&eoe->stats, 0, sizeof(struct net_device_stats)); + + if (!(eoe->dev = + alloc_netdev(sizeof(ec_eoe_t *), "eoe%d", ether_setup))) { + EC_ERR("Unable to allocate net_device for EoE handler!\n"); + goto out_return; + } + + // initialize net_device + eoe->dev->open = ec_eoedev_open; + eoe->dev->stop = ec_eoedev_stop; + eoe->dev->hard_start_xmit = ec_eoedev_tx; + eoe->dev->get_stats = ec_eoedev_stats; + + for (i = 0; i < ETH_ALEN; i++) + eoe->dev->dev_addr[i] = i | (i << 4); + + // initialize private data + priv = netdev_priv(eoe->dev); + *priv = eoe; + + // Usually setting the MTU appropriately makes the upper layers + // do the frame fragmenting. In some cases this doesn't work + // so the MTU is left on the Ethernet standard value and fragmenting + // is done "manually". +#if 0 + eoe->dev->mtu = slave->sii_rx_mailbox_size - ETH_HLEN - 10; +#endif + + // connect the net_device to the kernel + if ((result = register_netdev(eoe->dev))) { + EC_ERR("Unable to register net_device: error %i\n", result); + goto out_free; + } + + // make the last address octet unique + eoe->dev->dev_addr[ETH_ALEN - 1] = (uint8_t) eoe->dev->ifindex; + + return 0; + + out_free: + free_netdev(eoe->dev); + eoe->dev = NULL; + out_return: + return -1; } /*****************************************************************************/ /** EoE destructor. -*/ - -void ec_eoe_clear(ec_eoe_t *eoe) -{ + Unregisteres the net_device and frees allocated memory. +*/ + +void ec_eoe_clear(ec_eoe_t *eoe /**< EoE handler */) +{ + if (eoe->dev) { + unregister_netdev(eoe->dev); + free_netdev(eoe->dev); + } + + // empty transmit queue + ec_eoe_flush(eoe); + + if (eoe->tx_frame) { + dev_kfree_skb(eoe->tx_frame->skb); + kfree(eoe->tx_frame); + } + + if (eoe->rx_skb) dev_kfree_skb(eoe->rx_skb); +} + +/*****************************************************************************/ + +/** + Empties the transmit queue. +*/ + +void ec_eoe_flush(ec_eoe_t *eoe /**< EoE handler */) +{ + ec_eoe_frame_t *frame, *next; + + spin_lock_bh(&eoe->tx_queue_lock); + + list_for_each_entry_safe(frame, next, &eoe->tx_queue, queue) { + list_del(&frame->queue); + dev_kfree_skb(frame->skb); + kfree(frame); + } + eoe->tx_queued_frames = 0; + + spin_unlock_bh(&eoe->tx_queue_lock); +} + +/*****************************************************************************/ + +/** + Sends a frame or the next fragment. +*/ + +int ec_eoe_send(ec_eoe_t *eoe /**< EoE handler */) +{ + size_t remaining_size, current_size, complete_offset; + unsigned int last_fragment; + uint8_t *data; +#if EOE_DEBUG_LEVEL > 1 + unsigned int i; +#endif + + remaining_size = eoe->tx_frame->skb->len - eoe->tx_offset; + + if (remaining_size <= eoe->slave->sii_tx_mailbox_size - 10) { + current_size = remaining_size; + last_fragment = 1; + } + else { + current_size = ((eoe->slave->sii_tx_mailbox_size - 10) / 32) * 32; + last_fragment = 0; + } + + if (eoe->tx_fragment_number) { + complete_offset = eoe->tx_offset / 32; + } + else { + complete_offset = remaining_size / 32 + 1; + } + +#if EOE_DEBUG_LEVEL > 0 + EC_DBG("EoE TX sending %sfragment %i with %i octets (%i)." + " %i frames queued.\n", last_fragment ? "last " : "", + eoe->tx_fragment_number, current_size, complete_offset, + eoe->tx_queued_frames); +#endif + +#if EOE_DEBUG_LEVEL > 1 + EC_DBG(""); + for (i = 0; i < current_size; i++) { + printk("%02X ", frame->skb->data[eoe->tx_offset + i]); + if ((i + 1) % 16 == 0) { + printk("\n"); + EC_DBG(""); + } + } + printk("\n"); +#endif + + if (!(data = ec_slave_mbox_prepare_send(eoe->slave, 0x02, + current_size + 4))) + return -1; + + EC_WRITE_U8 (data, 0x00); // eoe fragment req. + EC_WRITE_U8 (data + 1, last_fragment); + EC_WRITE_U16(data + 2, ((eoe->tx_fragment_number & 0x3F) | + (complete_offset & 0x3F) << 6 | + (eoe->tx_frame_number & 0x0F) << 12)); + + memcpy(data + 4, eoe->tx_frame->skb->data + eoe->tx_offset, current_size); + ec_master_queue_command(eoe->slave->master, &eoe->slave->mbox_command); + + eoe->tx_offset += current_size; + eoe->tx_fragment_number++; + return 0; } /*****************************************************************************/ @@ -63,70 +259,137 @@ Runs the EoE state machine. */ -void ec_eoe_run(ec_eoe_t *eoe) -{ - uint8_t *data; - ec_master_t *master; - size_t rec_size; -#if 0 - unsigned int i; - uint8_t fragment_number; - uint8_t complete_size; - uint8_t frame_number; - uint8_t last_fragment; -#endif - - master = eoe->slave->master; - - if (eoe->rx_state == EC_EOE_IDLE) { - ec_slave_mbox_prepare_check(eoe->slave); - ec_master_queue_command(master, &eoe->slave->mbox_command); - eoe->rx_state = EC_EOE_CHECKING; - return; - } - - if (eoe->rx_state == EC_EOE_CHECKING) { - if (eoe->slave->mbox_command.state != EC_CMD_RECEIVED) { - master->stats.eoe_errors++; - eoe->rx_state = EC_EOE_IDLE; - return; - } - if (!ec_slave_mbox_check(eoe->slave)) { - eoe->rx_state = EC_EOE_IDLE; - return; - } - ec_slave_mbox_prepare_fetch(eoe->slave); - ec_master_queue_command(master, &eoe->slave->mbox_command); - eoe->rx_state = EC_EOE_FETCHING; - return; - } - - if (eoe->rx_state == EC_EOE_FETCHING) { - if (eoe->slave->mbox_command.state != EC_CMD_RECEIVED) { - master->stats.eoe_errors++; - eoe->rx_state = EC_EOE_IDLE; - return; - } - if (!(data = ec_slave_mbox_fetch(eoe->slave, 0x02, &rec_size))) { - master->stats.eoe_errors++; - eoe->rx_state = EC_EOE_IDLE; - return; - } - -#if 0 +void ec_eoe_run(ec_eoe_t *eoe /**< EoE handler */) +{ + if (!eoe->opened) return; + + // call state function + eoe->state(eoe); +} + +/*****************************************************************************/ + +/** + Returns the state of the device. + \return 1 if the device is "up", 0 if it is "down" +*/ + +unsigned int ec_eoe_active(const ec_eoe_t *eoe /**< EoE handler */) +{ + return eoe->slave && eoe->opened; +} + +/*****************************************************************************/ + +/** + Prints EoE handler information. +*/ + +void ec_eoe_print(const ec_eoe_t *eoe /**< EoE handler */) +{ + EC_INFO(" EoE handler %s\n", eoe->dev->name); + EC_INFO(" State: %s\n", eoe->opened ? "opened" : "closed"); + if (eoe->slave) + EC_INFO(" Coupled to slave %i.\n", eoe->slave->ring_position); + else + EC_INFO(" Not coupled.\n"); +} + +/****************************************************************************** + * STATE PROCESSING FUNCTIONS + *****************************************************************************/ + +/** + State: RX_START. + Starts a new receiving sequence by queueing a command that checks the + slave's mailbox for a new EoE command. +*/ + +void ec_eoe_state_rx_start(ec_eoe_t *eoe /**< EoE handler */) +{ + if (!eoe->slave->online || !eoe->slave->master->device->link_state) + return; + + ec_slave_mbox_prepare_check(eoe->slave); + ec_master_queue_command(eoe->slave->master, &eoe->slave->mbox_command); + eoe->state = ec_eoe_state_rx_check; +} + +/*****************************************************************************/ + +/** + State: RX_CHECK. + Processes the checking command sent in RX_START and issues a receive + command, if new data is available. +*/ + +void ec_eoe_state_rx_check(ec_eoe_t *eoe /**< EoE handler */) +{ + if (eoe->slave->mbox_command.state != EC_CMD_RECEIVED) { + eoe->stats.rx_errors++; + eoe->state = ec_eoe_state_tx_start; + return; + } + + if (!ec_slave_mbox_check(eoe->slave)) { + eoe->state = ec_eoe_state_tx_start; + return; + } + + ec_slave_mbox_prepare_fetch(eoe->slave); + ec_master_queue_command(eoe->slave->master, &eoe->slave->mbox_command); + eoe->state = ec_eoe_state_rx_fetch; +} + +/*****************************************************************************/ + +/** + State: RX_FETCH. + Checks if the requested data of RX_CHECK was received and processes the + EoE command. +*/ + +void ec_eoe_state_rx_fetch(ec_eoe_t *eoe /**< EoE handler */) +{ + size_t rec_size, data_size; + uint8_t *data, frame_type, last_fragment, time_appended; + uint8_t frame_number, fragment_offset, fragment_number; + off_t offset; + + if (eoe->slave->mbox_command.state != EC_CMD_RECEIVED) { + eoe->stats.rx_errors++; + eoe->state = ec_eoe_state_tx_start; + return; + } + + if (!(data = ec_slave_mbox_fetch(eoe->slave, 0x02, &rec_size))) { + eoe->stats.rx_errors++; + eoe->state = ec_eoe_state_tx_start; + return; + } + + frame_type = EC_READ_U16(data) & 0x000F; + + if (frame_type == 0x00) { // EoE Fragment Request + last_fragment = (EC_READ_U16(data) >> 8) & 0x0001; + time_appended = (EC_READ_U16(data) >> 9) & 0x0001; fragment_number = EC_READ_U16(data + 2) & 0x003F; - complete_size = (EC_READ_U16(data + 2) >> 6) & 0x003F; - frame_number = (EC_READ_U16(data + 2) >> 12) & 0x0003; - last_fragment = (EC_READ_U16(data + 2) >> 15) & 0x0001; - - EC_DBG("EOE %s received, fragment: %i, complete size: %i (0x%02X)," - " frame %i%s\n", - fragment_number ? "fragment" : "initiate", fragment_number, - (complete_size - 31) / 32, complete_size, frame_number, - last_fragment ? ", last fragment" : ""); + fragment_offset = (EC_READ_U16(data + 2) >> 6) & 0x003F; + frame_number = (EC_READ_U16(data + 2) >> 12) & 0x000F; + +#if EOE_DEBUG_LEVEL > 0 + EC_DBG("EoE RX fragment %i, offset %i, frame %i%s%s," + " %i octets\n", fragment_number, fragment_offset, + frame_number, + last_fragment ? ", last fragment" : "", + time_appended ? ", + timestamp" : "", + time_appended ? rec_size - 8 : rec_size - 4); +#endif + +#if EOE_DEBUG_LEVEL > 1 EC_DBG(""); - for (i = 0; i < rec_size - 2; i++) { - printk("%02X ", data[i + 2]); + for (i = 0; i < rec_size - 4; i++) { + printk("%02X ", data[i + 4]); if ((i + 1) % 16 == 0) { printk("\n"); EC_DBG(""); @@ -135,21 +398,303 @@ printk("\n"); #endif - eoe->rx_state = EC_EOE_IDLE; - return; - } -} - -/*****************************************************************************/ - -/** - Prints EoE object information. -*/ - -void ec_eoe_print(const ec_eoe_t *eoe) -{ - EC_INFO(" EoE slave %i\n", eoe->slave->ring_position); - EC_INFO(" RX State %i\n", eoe->rx_state); -} - -/*****************************************************************************/ + data_size = time_appended ? rec_size - 8 : rec_size - 4; + + if (!fragment_number) { + if (eoe->rx_skb) { + EC_WARN("EoE RX freeing old socket buffer...\n"); + dev_kfree_skb(eoe->rx_skb); + } + + // new socket buffer + if (!(eoe->rx_skb = dev_alloc_skb(fragment_offset * 32))) { + if (printk_ratelimit()) + EC_WARN("EoE RX low on mem. frame dropped.\n"); + eoe->stats.rx_dropped++; + eoe->state = ec_eoe_state_tx_start; + return; + } + + eoe->rx_skb_offset = 0; + eoe->rx_skb_size = fragment_offset * 32; + eoe->rx_expected_fragment = 0; + } + else { + if (!eoe->rx_skb) { + eoe->stats.rx_dropped++; + eoe->state = ec_eoe_state_tx_start; + return; + } + + offset = fragment_offset * 32; + if (offset != eoe->rx_skb_offset || + offset + data_size > eoe->rx_skb_size || + fragment_number != eoe->rx_expected_fragment) { + eoe->stats.rx_errors++; + eoe->state = ec_eoe_state_tx_start; + dev_kfree_skb(eoe->rx_skb); + eoe->rx_skb = NULL; + return; + } + } + + // copy fragment into socket buffer + memcpy(skb_put(eoe->rx_skb, data_size), data + 4, data_size); + eoe->rx_skb_offset += data_size; + + if (last_fragment) { + // update statistics + eoe->stats.rx_packets++; + eoe->stats.rx_bytes += eoe->rx_skb->len; + +#if EOE_DEBUG_LEVEL > 0 + EC_DBG("EoE RX frame completed with %u octets.\n", + eoe->rx_skb->len); +#endif + + // pass socket buffer to network stack + eoe->rx_skb->dev = eoe->dev; + eoe->rx_skb->protocol = eth_type_trans(eoe->rx_skb, eoe->dev); + eoe->rx_skb->ip_summed = CHECKSUM_UNNECESSARY; + if (netif_rx(eoe->rx_skb)) { + EC_WARN("EoE RX netif_rx failed.\n"); + } + eoe->rx_skb = NULL; + + eoe->state = ec_eoe_state_tx_start; + } + else { + eoe->rx_expected_fragment++; +#if EOE_DEBUG_LEVEL > 0 + EC_DBG("EoE RX expecting fragment %i\n", + eoe->rx_expected_fragment); +#endif + eoe->state = ec_eoe_state_rx_start; + } + } + else { +#if EOE_DEBUG_LEVEL > 0 + EC_DBG("other frame received.\n"); +#endif + eoe->stats.rx_dropped++; + eoe->state = ec_eoe_state_tx_start; + } +} + +/*****************************************************************************/ + +/** + State: TX START. + Starts a new transmit sequence. If no data is available, a new receive + sequence is started instead. +*/ + +void ec_eoe_state_tx_start(ec_eoe_t *eoe /**< EoE handler */) +{ +#if EOE_DEBUG_LEVEL > 0 + unsigned int wakeup; +#endif + + if (!eoe->slave->online || !eoe->slave->master->device->link_state) + return; + + spin_lock_bh(&eoe->tx_queue_lock); + + if (!eoe->tx_queued_frames || list_empty(&eoe->tx_queue)) { + spin_unlock_bh(&eoe->tx_queue_lock); + // no data available. + // start a new receive immediately. + ec_eoe_state_rx_start(eoe); + return; + } + + // take the first frame out of the queue + eoe->tx_frame = list_entry(eoe->tx_queue.next, ec_eoe_frame_t, queue); + list_del(&eoe->tx_frame->queue); + if (!eoe->tx_queue_active && + eoe->tx_queued_frames == EC_EOE_TX_QUEUE_SIZE / 2) { + netif_wake_queue(eoe->dev); + eoe->tx_queue_active = 1; +#if EOE_DEBUG_LEVEL > 0 + wakeup = 1; +#endif + } + + eoe->tx_queued_frames--; + spin_unlock_bh(&eoe->tx_queue_lock); + + eoe->tx_frame_number++; + eoe->tx_frame_number %= 16; + eoe->tx_fragment_number = 0; + eoe->tx_offset = 0; + + if (ec_eoe_send(eoe)) { + dev_kfree_skb(eoe->tx_frame->skb); + kfree(eoe->tx_frame); + eoe->tx_frame = NULL; + eoe->stats.tx_errors++; + eoe->state = ec_eoe_state_rx_start; + return; + } + +#if EOE_DEBUG_LEVEL > 0 + if (wakeup) EC_DBG("waking up TX queue...\n"); +#endif + + eoe->state = ec_eoe_state_tx_sent; +} + +/*****************************************************************************/ + +/** + State: TX SENT. + Checks is the previous transmit command succeded and sends the next + fragment, if necessary. +*/ + +void ec_eoe_state_tx_sent(ec_eoe_t *eoe /**< EoE handler */) +{ + if (eoe->slave->mbox_command.state != EC_CMD_RECEIVED) { + eoe->stats.tx_errors++; + eoe->state = ec_eoe_state_rx_start; + return; + } + + if (eoe->slave->mbox_command.working_counter != 1) { + eoe->stats.tx_errors++; + eoe->state = ec_eoe_state_rx_start; + return; + } + + // frame completely sent + if (eoe->tx_offset >= eoe->tx_frame->skb->len) { + eoe->stats.tx_packets++; + eoe->stats.tx_bytes += eoe->tx_frame->skb->len; + dev_kfree_skb(eoe->tx_frame->skb); + kfree(eoe->tx_frame); + eoe->tx_frame = NULL; + eoe->state = ec_eoe_state_rx_start; + } + else { // send next fragment + if (ec_eoe_send(eoe)) { + dev_kfree_skb(eoe->tx_frame->skb); + kfree(eoe->tx_frame); + eoe->tx_frame = NULL; + eoe->stats.tx_errors++; + eoe->state = ec_eoe_state_rx_start; + } + } +} + +/****************************************************************************** + * NET_DEVICE functions + *****************************************************************************/ + +/** + Opens the virtual network device. +*/ + +int ec_eoedev_open(struct net_device *dev /**< EoE net_device */) +{ + ec_eoe_t *eoe = *((ec_eoe_t **) netdev_priv(dev)); + ec_eoe_flush(eoe); + eoe->opened = 1; + netif_start_queue(dev); + eoe->tx_queue_active = 1; + EC_INFO("%s opened.\n", dev->name); + if (!eoe->slave) + EC_WARN("device %s is not coupled to any EoE slave!\n", dev->name); + else { + eoe->slave->requested_state = EC_SLAVE_STATE_OP; + eoe->slave->state_error = 0; + } + return 0; +} + +/*****************************************************************************/ + +/** + Stops the virtual network device. +*/ + +int ec_eoedev_stop(struct net_device *dev /**< EoE net_device */) +{ + ec_eoe_t *eoe = *((ec_eoe_t **) netdev_priv(dev)); + netif_stop_queue(dev); + eoe->tx_queue_active = 0; + eoe->opened = 0; + ec_eoe_flush(eoe); + EC_INFO("%s stopped.\n", dev->name); + if (!eoe->slave) + EC_WARN("device %s is not coupled to any EoE slave!\n", dev->name); + else { + eoe->slave->requested_state = EC_SLAVE_STATE_INIT; + eoe->slave->state_error = 0; + } + return 0; +} + +/*****************************************************************************/ + +/** + Transmits data via the virtual network device. +*/ + +int ec_eoedev_tx(struct sk_buff *skb, /**< transmit socket buffer */ + struct net_device *dev /**< EoE net_device */ + ) +{ + ec_eoe_t *eoe = *((ec_eoe_t **) netdev_priv(dev)); + ec_eoe_frame_t *frame; + +#if 0 + if (skb->len > eoe->slave->sii_tx_mailbox_size - 10) { + EC_WARN("EoE TX frame (%i octets) exceeds MTU. dropping.\n", skb->len); + dev_kfree_skb(skb); + eoe->stats.tx_dropped++; + return 0; + } +#endif + + if (!(frame = + (ec_eoe_frame_t *) kmalloc(sizeof(ec_eoe_frame_t), GFP_ATOMIC))) { + if (printk_ratelimit()) + EC_WARN("EoE TX: low on mem. frame dropped.\n"); + return 1; + } + + frame->skb = skb; + + spin_lock_bh(&eoe->tx_queue_lock); + list_add_tail(&frame->queue, &eoe->tx_queue); + eoe->tx_queued_frames++; + if (eoe->tx_queued_frames == EC_EOE_TX_QUEUE_SIZE) { + netif_stop_queue(dev); + eoe->tx_queue_active = 0; + } + spin_unlock_bh(&eoe->tx_queue_lock); + +#if EOE_DEBUG_LEVEL > 0 + EC_DBG("EoE TX queued frame with %i octets (%i frames queued).\n", + skb->len, eoe->tx_queued_frames); + if (!eoe->tx_queue_active) + EC_WARN("EoE TX queue is now full.\n"); +#endif + + return 0; +} + +/*****************************************************************************/ + +/** + Gets statistics about the virtual network device. +*/ + +struct net_device_stats *ec_eoedev_stats(struct net_device *dev + /**< EoE net_device */) +{ + ec_eoe_t *eoe = *((ec_eoe_t **) netdev_priv(dev)); + return &eoe->stats; +} + +/*****************************************************************************/