# HG changeset patch # User Edouard Tisserant # Date 1536783318 -7200 # Node ID e0c2f17ebed1e951f41f25c00f08ff4d02ac8fed # Parent 742c70a976222020c3763dcb18f034a46a7935b7 Added devices/rtdmnet.c, heavily based on devices/generic.c, and with similar purpose. It uses Xenomai's RTNet/RTDM socket instead of Linux socket. diff -r 742c70a97622 -r e0c2f17ebed1 configure.ac --- a/configure.ac Wed Sep 12 21:22:46 2018 +0200 +++ b/configure.ac Wed Sep 12 22:15:18 2018 +0200 @@ -209,6 +209,29 @@ AC_SUBST(ENABLE_GENERIC,[$enablegeneric]) #------------------------------------------------------------------------------ +# RTDM Ethernet driver +#------------------------------------------------------------------------------ + +AC_ARG_ENABLE([rtdmnet], + AS_HELP_STRING([--enable-rtdmnet], + [Enable RTDM Ethernet driver]), + [ + case "${enableval}" in + yes) enablertdmnet=1 + ;; + no) enablertdmnet=0 + ;; + *) AC_MSG_ERROR([Invalid value for --enable-rtdmnet]) + ;; + esac + ], + [enablertdmnet=$enablekernel] +) + +AM_CONDITIONAL(ENABLE_RTDMNET, test "x$enablertdmnet" = "x1") +AC_SUBST(ENABLE_RTDMNET,[$enablertdmnet]) + +#------------------------------------------------------------------------------ # 8139too driver #------------------------------------------------------------------------------ diff -r 742c70a97622 -r e0c2f17ebed1 devices/Kbuild.in --- a/devices/Kbuild.in Wed Sep 12 21:22:46 2018 +0200 +++ b/devices/Kbuild.in Wed Sep 12 22:15:18 2018 +0200 @@ -44,6 +44,13 @@ CFLAGS_$(EC_GENERIC_OBJ) = -DREV=$(REV) endif +ifeq (@ENABLE_RTDMNET@,1) + EC_RTDMNET_OBJ := rtdmnet.o + obj-m += ec_rtdmnet.o + ec_rtdmnet-objs := $(EC_RTDMNET_OBJ) + CFLAGS_$(EC_RTDMNET_OBJ) = -DREV=$(REV) -Idrivers/xenomai/net/stack/include +endif + ifeq (@ENABLE_8139TOO@,1) EC_8139TOO_OBJ := 8139too-@KERNEL_8139TOO@-ethercat.o obj-m += ec_8139too.o diff -r 742c70a97622 -r e0c2f17ebed1 devices/Makefile.am --- a/devices/Makefile.am Wed Sep 12 21:22:46 2018 +0200 +++ b/devices/Makefile.am Wed Sep 12 22:15:18 2018 +0200 @@ -137,6 +137,7 @@ e100-3.8-orig.c \ ecdev.h \ generic.c \ + rtdmnet.c \ r8169-2.6.24-ethercat.c \ r8169-2.6.24-orig.c \ r8169-2.6.27-ethercat.c \ diff -r 742c70a97622 -r e0c2f17ebed1 devices/rtdmnet.c --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/devices/rtdmnet.c Wed Sep 12 22:15:18 2018 +0200 @@ -0,0 +1,509 @@ +/****************************************************************************** + * + * $Id$ + * + * Copyright (C) 2006-2008 Florian Pose, Ingenieurgemeinschaft IgH + * Copyright (C) 2014-2018 Edouard Tisserant + * + * 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 version 2, as + * published by the Free Software Foundation. + * + * 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 license mentioned above concerns the source code only. Using the + * EtherCAT technology and brand is only permitted in compliance with the + * industrial property and similar rights of Beckhoff Automation GmbH. + * + *****************************************************************************/ + +/** \file + * EtherCAT generic Xenomai's RTDM RAW Ethernet socket device module. + * Heavily based on generic.c. Should be merged in a single file with #ifdefs + */ + +/*****************************************************************************/ + +#include +#include +#include +#include +#include /* ARPHRD_ETHER */ +#include +#include + +// for rtnetif_carrier_ok +// This needs -I@XENOMAI_DIR@/kernel/drivers/net/stack/include in Kbuild.in +#include + +#include "../globals.h" +#include "ecdev.h" + +#define PFX "ec_rtnet: " + +#define ETH_P_ETHERCAT 0x88A4 + +#define EC_GEN_RX_BUF_SIZE 1600 + +/*****************************************************************************/ + +int __init ec_gen_init_module(void); +void __exit ec_gen_cleanup_module(void); + +/*****************************************************************************/ + +/** \cond */ + +MODULE_AUTHOR("Edouard Tisserant "); +MODULE_DESCRIPTION("EtherCAT generic Xenomai's RTDM RAW Ethernet socket device module."); +MODULE_LICENSE("GPL"); +MODULE_VERSION(EC_MASTER_VERSION); + +/** \endcond */ + +struct list_head generic_devices; + +typedef struct { + struct list_head list; + struct net_device *netdev; + struct rtnet_device *used_netdev; + int socket; + ec_device_t *ecdev; + uint8_t *rx_buf; + // struct sockaddr_ll dest_addr; +} ec_gen_device_t; + +typedef struct { + struct list_head list; + struct rtnet_device *netdev; + char name[IFNAMSIZ]; + int ifindex; + uint8_t dev_addr[ETH_ALEN]; +} ec_gen_interface_desc_t; + +int ec_gen_device_open(ec_gen_device_t *); +int ec_gen_device_stop(ec_gen_device_t *); +int ec_gen_device_start_xmit(ec_gen_device_t *, struct sk_buff *); +void ec_gen_device_poll(ec_gen_device_t *); + +/*****************************************************************************/ + +static int ec_gen_netdev_open(struct net_device *dev) +{ + ec_gen_device_t *gendev = *((ec_gen_device_t **) netdev_priv(dev)); + return ec_gen_device_open(gendev); +} + +/*****************************************************************************/ + +static int ec_gen_netdev_stop(struct net_device *dev) +{ + ec_gen_device_t *gendev = *((ec_gen_device_t **) netdev_priv(dev)); + return ec_gen_device_stop(gendev); +} + +/*****************************************************************************/ + +static int ec_gen_netdev_start_xmit( + struct sk_buff *skb, + struct net_device *dev + ) +{ + ec_gen_device_t *gendev = *((ec_gen_device_t **) netdev_priv(dev)); + return ec_gen_device_start_xmit(gendev, skb); +} + +/*****************************************************************************/ + +void ec_gen_poll(struct net_device *dev) +{ + ec_gen_device_t *gendev = *((ec_gen_device_t **) netdev_priv(dev)); + ec_gen_device_poll(gendev); +} + +/*****************************************************************************/ + +#if LINUX_VERSION_CODE >= KERNEL_VERSION(2, 6, 29) +static const struct net_device_ops ec_gen_netdev_ops = { + .ndo_open = ec_gen_netdev_open, + .ndo_stop = ec_gen_netdev_stop, + .ndo_start_xmit = ec_gen_netdev_start_xmit, +}; +#endif + +/*****************************************************************************/ + +/** Init generic device. + */ +int ec_gen_device_init( + ec_gen_device_t *dev + ) +{ + ec_gen_device_t **priv; + char null = 0x00; + + dev->ecdev = NULL; + dev->socket = -1; + dev->rx_buf = NULL; + +#if LINUX_VERSION_CODE >= KERNEL_VERSION(3, 17, 0) + dev->netdev = alloc_netdev(sizeof(ec_gen_device_t *), &null, + NET_NAME_UNKNOWN, ether_setup); +#else + dev->netdev = alloc_netdev(sizeof(ec_gen_device_t *), &null, ether_setup); +#endif + if (!dev->netdev) { + return -ENOMEM; + } + +#if LINUX_VERSION_CODE >= KERNEL_VERSION(2, 6, 29) + dev->netdev->netdev_ops = &ec_gen_netdev_ops; +#else + dev->netdev->open = ec_gen_netdev_open; + dev->netdev->stop = ec_gen_netdev_stop; + dev->netdev->hard_start_xmit = ec_gen_netdev_start_xmit; +#endif + + priv = netdev_priv(dev->netdev); + *priv = dev; + + return 0; +} + +/*****************************************************************************/ + +/** Clear generic device. + */ +void ec_gen_device_clear( + ec_gen_device_t *dev + ) +{ + if (dev->ecdev) { + ecdev_close(dev->ecdev); + ecdev_withdraw(dev->ecdev); + } + if (!(dev->socket < 0)) { + rtdm_close(dev->socket); + dev->socket = -1; + } + free_netdev(dev->netdev); + + if (dev->rx_buf) { + kfree(dev->rx_buf); + } +} + +/*****************************************************************************/ + +/** Creates a network socket. + */ +int ec_gen_device_create_socket( + ec_gen_device_t *dev, + ec_gen_interface_desc_t *desc + ) +{ + int ret; + struct sockaddr_ll sa; + + dev->rx_buf = kmalloc(EC_GEN_RX_BUF_SIZE, GFP_KERNEL); + if (!dev->rx_buf) { + return -ENOMEM; + } + + /* create rt-socket */ + dev->socket = rtdm_socket(AF_PACKET, SOCK_RAW, htons(ETH_P_ETHERCAT)); + if (dev->socket < 0) { + printk(" rtdm_socket() = %d!\n", dev->socket); + return dev->socket; + } + + printk(KERN_ERR PFX "Binding socket to interface %i (%s).\n", + desc->ifindex, desc->name); + + memset(&sa, 0x00, sizeof(sa)); + sa.sll_family = AF_PACKET; + sa.sll_protocol = htons(ETH_P_ETHERCAT); + sa.sll_ifindex = desc->ifindex; + ret = rtdm_bind(dev->socket, (struct sockaddr *)&sa, + sizeof(struct sockaddr_ll)); + if (ret < 0) { + printk(" rtdm_bind() = %d!\n", ret); + rtdm_close(dev->socket); + dev->socket = -1; + return ret; + } + + return 0; +} + +/*****************************************************************************/ + +/** Offer generic device to master. + */ +int ec_gen_device_offer( + ec_gen_device_t *dev, + ec_gen_interface_desc_t *desc + ) +{ + int ret = 0; + + dev->used_netdev = desc->netdev; + memcpy(dev->netdev->dev_addr, desc->dev_addr, ETH_ALEN); + + dev->ecdev = ecdev_offer(dev->netdev, ec_gen_poll, THIS_MODULE); + if (dev->ecdev) { + if (ec_gen_device_create_socket(dev, desc)) { + ecdev_withdraw(dev->ecdev); + dev->ecdev = NULL; + } else if (ecdev_open(dev->ecdev)) { + ecdev_withdraw(dev->ecdev); + dev->ecdev = NULL; + } else { + ecdev_set_link(dev->ecdev, rtnetif_carrier_ok(dev->used_netdev)); // FIXME + ret = 1; + } + } + + return ret; +} + +/*****************************************************************************/ + +/** Open the device. + */ +int ec_gen_device_open( + ec_gen_device_t *dev + ) +{ + return 0; +} + +/*****************************************************************************/ + +/** Stop the device. + */ +int ec_gen_device_stop( + ec_gen_device_t *dev + ) +{ + return 0; +} + +/*****************************************************************************/ + +int ec_gen_device_start_xmit( + ec_gen_device_t *dev, + struct sk_buff *skb + ) +{ + struct user_msghdr msg; + struct iovec iov; + size_t len = skb->len; + int ret; + + ecdev_set_link(dev->ecdev, rtnetif_carrier_ok(dev->used_netdev)); + //ecdev_set_link(dev->ecdev, 1); // FIXME + + iov.iov_base = skb->data; + iov.iov_len = len; + memset(&msg, 0, sizeof(msg)); + // msg.msg_name = &dev->dest_addr; + // msg.msg_namelen = sizeof(dev->dest_addr); + msg.msg_iov = &iov; + msg.msg_iovlen = 1; + + ret = rtdm_sendmsg(dev->socket, &msg, 0); + // printk("sendmsg: %d\n", ret); + // if (ret != len && ret != -ENOSYS) + // printk(" rtdm_sendmsg() = %d!\n", ret); + + return ret == len ? NETDEV_TX_OK : NETDEV_TX_BUSY; +} + +/*****************************************************************************/ + +/** Polls the device. + */ +void ec_gen_device_poll( + ec_gen_device_t *dev + ) +{ + struct user_msghdr msg; + struct iovec iov; + int ret, budget = 128; // FIXME + + ecdev_set_link(dev->ecdev, rtnetif_carrier_ok(dev->used_netdev)); + + do { + iov.iov_base = dev->rx_buf; + iov.iov_len = EC_GEN_RX_BUF_SIZE; + memset(&msg, 0, sizeof(msg)); + msg.msg_iov = &iov; + msg.msg_iovlen = 1; + + ret = rtdm_recvmsg(dev->socket, &msg, MSG_DONTWAIT); + if (ret > 0) { + ecdev_receive(dev->ecdev, dev->rx_buf, ret); + } else if (ret < 0) { + break; + } + //printk("revmsg: %d\n", ret); + budget--; + } while (budget); +} + +/*****************************************************************************/ + +/** Offer device. + */ +int offer_device( + ec_gen_interface_desc_t *desc + ) +{ + ec_gen_device_t *gendev; + int ret = 0; + + gendev = kmalloc(sizeof(ec_gen_device_t), GFP_KERNEL); + if (!gendev) { + return -ENOMEM; + } + + ret = ec_gen_device_init(gendev); + if (ret) { + kfree(gendev); + return ret; + } + + if (ec_gen_device_offer(gendev, desc)) { + list_add_tail(&gendev->list, &generic_devices); + } else { + ec_gen_device_clear(gendev); + kfree(gendev); + } + + return ret; +} + +/*****************************************************************************/ + +/** Clear devices. + */ +void clear_devices(void) +{ + ec_gen_device_t *gendev, *next; + + list_for_each_entry_safe(gendev, next, &generic_devices, list) { + list_del(&gendev->list); + ec_gen_device_clear(gendev); + kfree(gendev); + } +} + +/*****************************************************************************/ + +/** Module initialization. + * + * Initializes \a master_count masters. + * \return 0 on success, else < 0 + */ +int __init ec_gen_init_module(void) +{ + int ret = 0; + int devices = 0; + int i; + struct list_head descs; + struct rtnet_device *rtdev; + ec_gen_interface_desc_t *desc, *next; + + printk(KERN_INFO PFX "EtherCAT master RTnet Ethernet device module %s\n", + EC_MASTER_VERSION); + + INIT_LIST_HEAD(&generic_devices); + INIT_LIST_HEAD(&descs); + + for (i = 0; i < MAX_RT_DEVICES; i++) { + + rtdev = rtdev_get_by_index(i); + if (rtdev != NULL) { + mutex_lock(&rtdev->nrt_lock); + + //if (test_bit(PRIV_FLAG_UP, &rtdev->priv_flags)) { + // mutex_unlock(&rtdev->nrt_lock); + // printk(KERN_ERR PFX "%s busy, skipping device!\n", rtdev->name); + // rtdev_dereference(rtdev); + // continue; + //} + + desc = kmalloc(sizeof(ec_gen_interface_desc_t), GFP_ATOMIC); + if (!desc) { + ret = -ENOMEM; + goto out_err; + } + strncpy(desc->name, rtdev->name, IFNAMSIZ); + desc->netdev = rtdev; + desc->ifindex = rtdev->ifindex; + memcpy(desc->dev_addr, rtdev->dev_addr, ETH_ALEN); + list_add_tail(&desc->list, &descs); + mutex_unlock(&rtdev->nrt_lock); + + devices++; + } + } + + if (devices == 0) { + printk(KERN_ERR PFX "no real-time devices found!\n"); + ret = -ENODEV; + goto out_err; + } + + list_for_each_entry_safe(desc, next, &descs, list) { + ret = offer_device(desc); + if (ret) { + goto out_err; + } + kfree(desc); + } + return ret; + +out_err: + list_for_each_entry_safe(desc, next, &descs, list) { + list_del(&desc->list); + kfree(desc); + } + clear_devices(); + return ret; +} + +/*****************************************************************************/ + +/** Module cleanup. + * + * Clears all master instances. + */ +void __exit ec_gen_cleanup_module(void) +{ + clear_devices(); + printk(KERN_INFO PFX "Unloading.\n"); +} + +/*****************************************************************************/ + +/** \cond */ + +module_init(ec_gen_init_module); +module_exit(ec_gen_cleanup_module); + +/** \endcond */ + +/*****************************************************************************/