merge
This commit is contained in:
Florian Pose
commit
c278a2de92
40
configure.ac
40
configure.ac
|
|
@ -246,6 +246,44 @@ fi
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||||||
|
|
||||||
AC_SUBST(KERNEL_8139TOO,[$kernel8139too])
|
AC_SUBST(KERNEL_8139TOO,[$kernel8139too])
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||||||
|
|
||||||
|
#------------------------------------------------------------------------------
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||||||
|
# CCAT driver
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||||||
|
#------------------------------------------------------------------------------
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||||||
|
|
||||||
|
AC_ARG_ENABLE([ccat],
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||||||
|
AS_HELP_STRING([--enable-ccat],
|
||||||
|
[Enable CCAT driver]),
|
||||||
|
[
|
||||||
|
case "${enableval}" in
|
||||||
|
yes) enableccat=1
|
||||||
|
;;
|
||||||
|
no) enableccat=0
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||||||
|
;;
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||||||
|
*) AC_MSG_ERROR([Invalid value for --enable-ccat])
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||||||
|
;;
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||||||
|
esac
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||||||
|
],
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||||||
|
[enableccat=0] # disabled by default
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||||||
|
)
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||||||
|
|
||||||
|
AM_CONDITIONAL(ENABLE_CCAT, test "x$enableccat" = "x1")
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||||||
|
AC_SUBST(ENABLE_CCAT,[$enableccat])
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||||||
|
|
||||||
|
AC_ARG_WITH([ccat-kernel],
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||||||
|
AC_HELP_STRING(
|
||||||
|
[--with-ccat-kernel=<X.Y.Z>],
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||||||
|
[ccat kernel (only if differing)]
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||||||
|
),
|
||||||
|
[
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||||||
|
kernelccat=[$withval]
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||||||
|
],
|
||||||
|
[
|
||||||
|
kernelccat=$linuxversion
|
||||||
|
]
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||||||
|
)
|
||||||
|
|
||||||
|
AC_SUBST(KERNEL_CCAT,[$kernelccat])
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||||||
|
|
||||||
#------------------------------------------------------------------------------
|
#------------------------------------------------------------------------------
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||||||
# e100 driver
|
# e100 driver
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||||||
#------------------------------------------------------------------------------
|
#------------------------------------------------------------------------------
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||||||
|
|
@ -1003,6 +1041,8 @@ AC_CONFIG_FILES([
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||||||
Makefile
|
Makefile
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||||||
devices/Kbuild
|
devices/Kbuild
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||||||
devices/Makefile
|
devices/Makefile
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||||||
|
devices/ccat/Kbuild
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||||||
|
devices/ccat/Makefile
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||||||
devices/e1000/Kbuild
|
devices/e1000/Kbuild
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||||||
devices/e1000/Makefile
|
devices/e1000/Makefile
|
||||||
devices/e1000e/Kbuild
|
devices/e1000e/Kbuild
|
||||||
|
|
|
||||||
|
|
@ -51,6 +51,10 @@ ifeq (@ENABLE_8139TOO@,1)
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||||||
CFLAGS_$(EC_8139TOO_OBJ) = -DREV=$(REV)
|
CFLAGS_$(EC_8139TOO_OBJ) = -DREV=$(REV)
|
||||||
endif
|
endif
|
||||||
|
|
||||||
|
ifeq (@ENABLE_CCAT@,1)
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||||||
|
obj-m += ccat/
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||||||
|
endif
|
||||||
|
|
||||||
ifeq (@ENABLE_E100@,1)
|
ifeq (@ENABLE_E100@,1)
|
||||||
EC_E100_OBJ := e100-@KERNEL_E100@-ethercat.o
|
EC_E100_OBJ := e100-@KERNEL_E100@-ethercat.o
|
||||||
obj-m += ec_e100.o
|
obj-m += ec_e100.o
|
||||||
|
|
|
||||||
|
|
@ -28,10 +28,12 @@
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||||||
#------------------------------------------------------------------------------
|
#------------------------------------------------------------------------------
|
||||||
|
|
||||||
SUBDIRS = \
|
SUBDIRS = \
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||||||
|
ccat \
|
||||||
e1000 \
|
e1000 \
|
||||||
e1000e
|
e1000e
|
||||||
|
|
||||||
DIST_SUBDIRS = \
|
DIST_SUBDIRS = \
|
||||||
|
ccat \
|
||||||
e1000 \
|
e1000 \
|
||||||
e1000e
|
e1000e
|
||||||
|
|
||||||
|
|
|
||||||
|
|
@ -0,0 +1,193 @@
|
||||||
|
/**
|
||||||
|
Network Driver for Beckhoff CCAT communication controller
|
||||||
|
Copyright (C) 2014 Beckhoff Automation GmbH
|
||||||
|
Author: Patrick Bruenn <p.bruenn@beckhoff.com>
|
||||||
|
|
||||||
|
This program 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; either version 2 of the License, or
|
||||||
|
(at your option) any later version.
|
||||||
|
|
||||||
|
This program 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 this program; if not, write to the Free Software Foundation, Inc.,
|
||||||
|
51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.
|
||||||
|
*/
|
||||||
|
#ifndef _CCAT_DEFINITIONS_H_
|
||||||
|
#define _CCAT_DEFINITIONS_H_
|
||||||
|
|
||||||
|
#ifndef WINDOWS
|
||||||
|
#include <linux/kernel.h>
|
||||||
|
typedef uint8_t BYTE;
|
||||||
|
typedef uint32_t ULONG;
|
||||||
|
typedef uint16_t USHORT;
|
||||||
|
typedef uint8_t UINT8;
|
||||||
|
typedef uint16_t UINT16;
|
||||||
|
typedef uint32_t UINT32;
|
||||||
|
typedef uint64_t UINT64;
|
||||||
|
#endif
|
||||||
|
|
||||||
|
#define CCAT_DMA_FRAME_HEADER_LENGTH (196 / 8) // 196 bit
|
||||||
|
|
||||||
|
typedef struct _ETHERNET_ADDRESS
|
||||||
|
{
|
||||||
|
UINT8 b[6];
|
||||||
|
}ETHERNET_ADDRESS;
|
||||||
|
|
||||||
|
typedef enum CCatInfoTypes
|
||||||
|
{
|
||||||
|
CCATINFO_NOTUSED = 0,
|
||||||
|
CCATINFO_BLOCK = 1,
|
||||||
|
CCATINFO_ETHERCAT_SLAVE = 2,
|
||||||
|
CCATINFO_ETHERCAT_MASTER = 3,
|
||||||
|
CCATINFO_ETHERNET_MAC = 4,
|
||||||
|
CCATINFO_ETHERNET_SWITCH = 5,
|
||||||
|
CCATINFO_SERCOS3 = 6,
|
||||||
|
CCATINFO_PROFIBUS = 7,
|
||||||
|
CCATINFO_CAN_CONTROLLER = 8,
|
||||||
|
CCATINFO_KBUS_MASTER = 9,
|
||||||
|
CCATINFO_IP_LINK = 10,
|
||||||
|
CCATINFO_SPI_MASTER = 11,
|
||||||
|
CCATINFO_I2C_MASTER = 12,
|
||||||
|
CCATINFO_GPIO = 13,
|
||||||
|
CCATINFO_DRIVEIP = 14,
|
||||||
|
CCATINFO_EPCS_PROM = 15,
|
||||||
|
CCATINFO_SYSTIME = 16,
|
||||||
|
CCATINFO_INTCTRL = 17,
|
||||||
|
CCATINFO_EEPROM = 18,
|
||||||
|
CCATINFO_DMA = 19,
|
||||||
|
CCATINFO_ETHERCAT_MASTER_DMA = 20,
|
||||||
|
CCATINFO_ETHERNET_MAC_DMA = 21,
|
||||||
|
CCATINFO_SRAM = 22,
|
||||||
|
CCATINFO_COPY_BLOCK = 23,
|
||||||
|
CCATINFO_MAX
|
||||||
|
} _CCatInfoTypes;
|
||||||
|
|
||||||
|
typedef struct
|
||||||
|
{
|
||||||
|
USHORT eCCatInfoType;
|
||||||
|
USHORT nRevision;
|
||||||
|
union
|
||||||
|
{
|
||||||
|
ULONG nParam;
|
||||||
|
struct
|
||||||
|
{
|
||||||
|
BYTE nMaxEntries;
|
||||||
|
BYTE compileDay;
|
||||||
|
BYTE compileMonth;
|
||||||
|
BYTE compileYear;
|
||||||
|
};
|
||||||
|
struct
|
||||||
|
{
|
||||||
|
BYTE txDmaChn;
|
||||||
|
BYTE rxDmaChn;
|
||||||
|
};
|
||||||
|
struct
|
||||||
|
{
|
||||||
|
BYTE nExternalDataSize : 2;
|
||||||
|
BYTE reserved1 : 6;
|
||||||
|
BYTE nRamSize; //size = 2^ramSize
|
||||||
|
USHORT reserved2;
|
||||||
|
};
|
||||||
|
};
|
||||||
|
ULONG nAddr;
|
||||||
|
ULONG nSize;
|
||||||
|
} CCatInfoBlock, *PCCatInfoBlock;
|
||||||
|
|
||||||
|
typedef struct _CCatMacRegs
|
||||||
|
{
|
||||||
|
union
|
||||||
|
{
|
||||||
|
struct
|
||||||
|
{
|
||||||
|
UINT8 frameLenErrCnt;
|
||||||
|
UINT8 rxErrCnt;
|
||||||
|
UINT8 crcErrCnt;
|
||||||
|
UINT8 linkLostErrCnt;
|
||||||
|
};
|
||||||
|
UINT32 errCnt;
|
||||||
|
};
|
||||||
|
UINT32 reserved1;
|
||||||
|
UINT8 dropFrameErrCnt; // 0x08
|
||||||
|
UINT8 reserved2[7];
|
||||||
|
UINT32 txFrameCnt; // 0x10
|
||||||
|
UINT32 rxFrameCnt; // 0x14
|
||||||
|
UINT32 reserved3[2];
|
||||||
|
UINT8 txFifoLevel : 7;
|
||||||
|
UINT8 reserved4 : 1;
|
||||||
|
UINT8 reserved5[7];
|
||||||
|
UINT8 txErrMemFull;
|
||||||
|
UINT8 reserved6[7];
|
||||||
|
UINT32 reserved8[18];
|
||||||
|
UINT8 miiConnected;
|
||||||
|
}CCatMacRegs;
|
||||||
|
|
||||||
|
typedef struct _CCatMii
|
||||||
|
{
|
||||||
|
USHORT startMiCycle : 1;
|
||||||
|
USHORT reserved1 : 6;
|
||||||
|
USHORT cmdErr : 1;
|
||||||
|
#define MII_CMD_READ 1
|
||||||
|
#define MII_CMD_WRITE 2
|
||||||
|
USHORT cmd : 2;
|
||||||
|
USHORT reserved2 : 6;
|
||||||
|
USHORT phyAddr : 5;
|
||||||
|
USHORT reserved3 : 3;
|
||||||
|
USHORT phyReg : 5;
|
||||||
|
USHORT reserved4 : 3;
|
||||||
|
USHORT phyWriteData;
|
||||||
|
USHORT phyReadData;
|
||||||
|
ETHERNET_ADDRESS macAddr;
|
||||||
|
USHORT macFilterEnabled : 1;
|
||||||
|
USHORT reserved6 : 7;
|
||||||
|
USHORT linkStatus : 1;
|
||||||
|
USHORT reserved7 : 7;
|
||||||
|
ULONG led0;
|
||||||
|
ULONG led1;
|
||||||
|
ULONG led2[2];
|
||||||
|
ULONG systimeInsertion[4];
|
||||||
|
ULONG interruptState[2];
|
||||||
|
ULONG interruptMask[2];
|
||||||
|
}CCatMii;
|
||||||
|
|
||||||
|
typedef struct _CCatDmaTxFifo
|
||||||
|
{
|
||||||
|
UINT32 startAddr : 24;
|
||||||
|
UINT32 numQuadWords : 8;
|
||||||
|
UINT32 reserved1;
|
||||||
|
UINT8 fifoReset;
|
||||||
|
UINT8 reserved2[7];
|
||||||
|
}CCatDmaTxFifo;
|
||||||
|
|
||||||
|
typedef union _CCatDmaRxActBuf
|
||||||
|
{
|
||||||
|
struct
|
||||||
|
{
|
||||||
|
UINT32 startAddr : 24;
|
||||||
|
UINT32 reserved1 : 7;
|
||||||
|
UINT32 nextValid : 1;
|
||||||
|
UINT32 lastAddr : 24;
|
||||||
|
UINT32 reserved2 : 8;
|
||||||
|
UINT32 FifoLevel : 24;
|
||||||
|
UINT32 bufferLevel : 8;
|
||||||
|
UINT32 nextAddr;
|
||||||
|
};
|
||||||
|
UINT32 rxActBuf;
|
||||||
|
}CCatDmaRxActBuf;
|
||||||
|
|
||||||
|
typedef struct _CCatInfoBlockOffs
|
||||||
|
{
|
||||||
|
UINT32 reserved;
|
||||||
|
UINT32 nMMIOffs;
|
||||||
|
UINT32 nTxFifoOffs;
|
||||||
|
UINT32 nMacRegOffs;
|
||||||
|
UINT32 nRxMemOffs;
|
||||||
|
UINT32 nTxMemOffs;
|
||||||
|
UINT32 nMiscOffs;
|
||||||
|
} CCatInfoBlockOffs;
|
||||||
|
#endif /* #ifndef _CCAT_DEFINITIONS_H_ */
|
||||||
|
|
||||||
|
|
@ -0,0 +1,339 @@
|
||||||
|
GNU GENERAL PUBLIC LICENSE
|
||||||
|
Version 2, June 1991
|
||||||
|
|
||||||
|
Copyright (C) 1989, 1991 Free Software Foundation, Inc.,
|
||||||
|
51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
|
||||||
|
Everyone is permitted to copy and distribute verbatim copies
|
||||||
|
of this license document, but changing it is not allowed.
|
||||||
|
|
||||||
|
Preamble
|
||||||
|
|
||||||
|
The licenses for most software are designed to take away your
|
||||||
|
freedom to share and change it. By contrast, the GNU General Public
|
||||||
|
License is intended to guarantee your freedom to share and change free
|
||||||
|
software--to make sure the software is free for all its users. This
|
||||||
|
General Public License applies to most of the Free Software
|
||||||
|
Foundation's software and to any other program whose authors commit to
|
||||||
|
using it. (Some other Free Software Foundation software is covered by
|
||||||
|
the GNU Lesser General Public License instead.) You can apply it to
|
||||||
|
your programs, too.
|
||||||
|
|
||||||
|
When we speak of free software, we are referring to freedom, not
|
||||||
|
price. Our General Public Licenses are designed to make sure that you
|
||||||
|
have the freedom to distribute copies of free software (and charge for
|
||||||
|
this service if you wish), that you receive source code or can get it
|
||||||
|
if you want it, that you can change the software or use pieces of it
|
||||||
|
in new free programs; and that you know you can do these things.
|
||||||
|
|
||||||
|
To protect your rights, we need to make restrictions that forbid
|
||||||
|
anyone to deny you these rights or to ask you to surrender the rights.
|
||||||
|
These restrictions translate to certain responsibilities for you if you
|
||||||
|
distribute copies of the software, or if you modify it.
|
||||||
|
|
||||||
|
For example, if you distribute copies of such a program, whether
|
||||||
|
gratis or for a fee, you must give the recipients all the rights that
|
||||||
|
you have. You must make sure that they, too, receive or can get the
|
||||||
|
source code. And you must show them these terms so they know their
|
||||||
|
rights.
|
||||||
|
|
||||||
|
We protect your rights with two steps: (1) copyright the software, and
|
||||||
|
(2) offer you this license which gives you legal permission to copy,
|
||||||
|
distribute and/or modify the software.
|
||||||
|
|
||||||
|
Also, for each author's protection and ours, we want to make certain
|
||||||
|
that everyone understands that there is no warranty for this free
|
||||||
|
software. If the software is modified by someone else and passed on, we
|
||||||
|
want its recipients to know that what they have is not the original, so
|
||||||
|
that any problems introduced by others will not reflect on the original
|
||||||
|
authors' reputations.
|
||||||
|
|
||||||
|
Finally, any free program is threatened constantly by software
|
||||||
|
patents. We wish to avoid the danger that redistributors of a free
|
||||||
|
program will individually obtain patent licenses, in effect making the
|
||||||
|
program proprietary. To prevent this, we have made it clear that any
|
||||||
|
patent must be licensed for everyone's free use or not licensed at all.
|
||||||
|
|
||||||
|
The precise terms and conditions for copying, distribution and
|
||||||
|
modification follow.
|
||||||
|
|
||||||
|
GNU GENERAL PUBLIC LICENSE
|
||||||
|
TERMS AND CONDITIONS FOR COPYING, DISTRIBUTION AND MODIFICATION
|
||||||
|
|
||||||
|
0. This License applies to any program or other work which contains
|
||||||
|
a notice placed by the copyright holder saying it may be distributed
|
||||||
|
under the terms of this General Public License. The "Program", below,
|
||||||
|
refers to any such program or work, and a "work based on the Program"
|
||||||
|
means either the Program or any derivative work under copyright law:
|
||||||
|
that is to say, a work containing the Program or a portion of it,
|
||||||
|
either verbatim or with modifications and/or translated into another
|
||||||
|
language. (Hereinafter, translation is included without limitation in
|
||||||
|
the term "modification".) Each licensee is addressed as "you".
|
||||||
|
|
||||||
|
Activities other than copying, distribution and modification are not
|
||||||
|
covered by this License; they are outside its scope. The act of
|
||||||
|
running the Program is not restricted, and the output from the Program
|
||||||
|
is covered only if its contents constitute a work based on the
|
||||||
|
Program (independent of having been made by running the Program).
|
||||||
|
Whether that is true depends on what the Program does.
|
||||||
|
|
||||||
|
1. You may copy and distribute verbatim copies of the Program's
|
||||||
|
source code as you receive it, in any medium, provided that you
|
||||||
|
conspicuously and appropriately publish on each copy an appropriate
|
||||||
|
copyright notice and disclaimer of warranty; keep intact all the
|
||||||
|
notices that refer to this License and to the absence of any warranty;
|
||||||
|
and give any other recipients of the Program a copy of this License
|
||||||
|
along with the Program.
|
||||||
|
|
||||||
|
You may charge a fee for the physical act of transferring a copy, and
|
||||||
|
you may at your option offer warranty protection in exchange for a fee.
|
||||||
|
|
||||||
|
2. You may modify your copy or copies of the Program or any portion
|
||||||
|
of it, thus forming a work based on the Program, and copy and
|
||||||
|
distribute such modifications or work under the terms of Section 1
|
||||||
|
above, provided that you also meet all of these conditions:
|
||||||
|
|
||||||
|
a) You must cause the modified files to carry prominent notices
|
||||||
|
stating that you changed the files and the date of any change.
|
||||||
|
|
||||||
|
b) You must cause any work that you distribute or publish, that in
|
||||||
|
whole or in part contains or is derived from the Program or any
|
||||||
|
part thereof, to be licensed as a whole at no charge to all third
|
||||||
|
parties under the terms of this License.
|
||||||
|
|
||||||
|
c) If the modified program normally reads commands interactively
|
||||||
|
when run, you must cause it, when started running for such
|
||||||
|
interactive use in the most ordinary way, to print or display an
|
||||||
|
announcement including an appropriate copyright notice and a
|
||||||
|
notice that there is no warranty (or else, saying that you provide
|
||||||
|
a warranty) and that users may redistribute the program under
|
||||||
|
these conditions, and telling the user how to view a copy of this
|
||||||
|
License. (Exception: if the Program itself is interactive but
|
||||||
|
does not normally print such an announcement, your work based on
|
||||||
|
the Program is not required to print an announcement.)
|
||||||
|
|
||||||
|
These requirements apply to the modified work as a whole. If
|
||||||
|
identifiable sections of that work are not derived from the Program,
|
||||||
|
and can be reasonably considered independent and separate works in
|
||||||
|
themselves, then this License, and its terms, do not apply to those
|
||||||
|
sections when you distribute them as separate works. But when you
|
||||||
|
distribute the same sections as part of a whole which is a work based
|
||||||
|
on the Program, the distribution of the whole must be on the terms of
|
||||||
|
this License, whose permissions for other licensees extend to the
|
||||||
|
entire whole, and thus to each and every part regardless of who wrote it.
|
||||||
|
|
||||||
|
Thus, it is not the intent of this section to claim rights or contest
|
||||||
|
your rights to work written entirely by you; rather, the intent is to
|
||||||
|
exercise the right to control the distribution of derivative or
|
||||||
|
collective works based on the Program.
|
||||||
|
|
||||||
|
In addition, mere aggregation of another work not based on the Program
|
||||||
|
with the Program (or with a work based on the Program) on a volume of
|
||||||
|
a storage or distribution medium does not bring the other work under
|
||||||
|
the scope of this License.
|
||||||
|
|
||||||
|
3. You may copy and distribute the Program (or a work based on it,
|
||||||
|
under Section 2) in object code or executable form under the terms of
|
||||||
|
Sections 1 and 2 above provided that you also do one of the following:
|
||||||
|
|
||||||
|
a) Accompany it with the complete corresponding machine-readable
|
||||||
|
source code, which must be distributed under the terms of Sections
|
||||||
|
1 and 2 above on a medium customarily used for software interchange; or,
|
||||||
|
|
||||||
|
b) Accompany it with a written offer, valid for at least three
|
||||||
|
years, to give any third party, for a charge no more than your
|
||||||
|
cost of physically performing source distribution, a complete
|
||||||
|
machine-readable copy of the corresponding source code, to be
|
||||||
|
distributed under the terms of Sections 1 and 2 above on a medium
|
||||||
|
customarily used for software interchange; or,
|
||||||
|
|
||||||
|
c) Accompany it with the information you received as to the offer
|
||||||
|
to distribute corresponding source code. (This alternative is
|
||||||
|
allowed only for noncommercial distribution and only if you
|
||||||
|
received the program in object code or executable form with such
|
||||||
|
an offer, in accord with Subsection b above.)
|
||||||
|
|
||||||
|
The source code for a work means the preferred form of the work for
|
||||||
|
making modifications to it. For an executable work, complete source
|
||||||
|
code means all the source code for all modules it contains, plus any
|
||||||
|
associated interface definition files, plus the scripts used to
|
||||||
|
control compilation and installation of the executable. However, as a
|
||||||
|
special exception, the source code distributed need not include
|
||||||
|
anything that is normally distributed (in either source or binary
|
||||||
|
form) with the major components (compiler, kernel, and so on) of the
|
||||||
|
operating system on which the executable runs, unless that component
|
||||||
|
itself accompanies the executable.
|
||||||
|
|
||||||
|
If distribution of executable or object code is made by offering
|
||||||
|
access to copy from a designated place, then offering equivalent
|
||||||
|
access to copy the source code from the same place counts as
|
||||||
|
distribution of the source code, even though third parties are not
|
||||||
|
compelled to copy the source along with the object code.
|
||||||
|
|
||||||
|
4. You may not copy, modify, sublicense, or distribute the Program
|
||||||
|
except as expressly provided under this License. Any attempt
|
||||||
|
otherwise to copy, modify, sublicense or distribute the Program is
|
||||||
|
void, and will automatically terminate your rights under this License.
|
||||||
|
However, parties who have received copies, or rights, from you under
|
||||||
|
this License will not have their licenses terminated so long as such
|
||||||
|
parties remain in full compliance.
|
||||||
|
|
||||||
|
5. You are not required to accept this License, since you have not
|
||||||
|
signed it. However, nothing else grants you permission to modify or
|
||||||
|
distribute the Program or its derivative works. These actions are
|
||||||
|
prohibited by law if you do not accept this License. Therefore, by
|
||||||
|
modifying or distributing the Program (or any work based on the
|
||||||
|
Program), you indicate your acceptance of this License to do so, and
|
||||||
|
all its terms and conditions for copying, distributing or modifying
|
||||||
|
the Program or works based on it.
|
||||||
|
|
||||||
|
6. Each time you redistribute the Program (or any work based on the
|
||||||
|
Program), the recipient automatically receives a license from the
|
||||||
|
original licensor to copy, distribute or modify the Program subject to
|
||||||
|
these terms and conditions. You may not impose any further
|
||||||
|
restrictions on the recipients' exercise of the rights granted herein.
|
||||||
|
You are not responsible for enforcing compliance by third parties to
|
||||||
|
this License.
|
||||||
|
|
||||||
|
7. If, as a consequence of a court judgment or allegation of patent
|
||||||
|
infringement or for any other reason (not limited to patent issues),
|
||||||
|
conditions are imposed on you (whether by court order, agreement or
|
||||||
|
otherwise) that contradict the conditions of this License, they do not
|
||||||
|
excuse you from the conditions of this License. If you cannot
|
||||||
|
distribute so as to satisfy simultaneously your obligations under this
|
||||||
|
License and any other pertinent obligations, then as a consequence you
|
||||||
|
may not distribute the Program at all. For example, if a patent
|
||||||
|
license would not permit royalty-free redistribution of the Program by
|
||||||
|
all those who receive copies directly or indirectly through you, then
|
||||||
|
the only way you could satisfy both it and this License would be to
|
||||||
|
refrain entirely from distribution of the Program.
|
||||||
|
|
||||||
|
If any portion of this section is held invalid or unenforceable under
|
||||||
|
any particular circumstance, the balance of the section is intended to
|
||||||
|
apply and the section as a whole is intended to apply in other
|
||||||
|
circumstances.
|
||||||
|
|
||||||
|
It is not the purpose of this section to induce you to infringe any
|
||||||
|
patents or other property right claims or to contest validity of any
|
||||||
|
such claims; this section has the sole purpose of protecting the
|
||||||
|
integrity of the free software distribution system, which is
|
||||||
|
implemented by public license practices. Many people have made
|
||||||
|
generous contributions to the wide range of software distributed
|
||||||
|
through that system in reliance on consistent application of that
|
||||||
|
system; it is up to the author/donor to decide if he or she is willing
|
||||||
|
to distribute software through any other system and a licensee cannot
|
||||||
|
impose that choice.
|
||||||
|
|
||||||
|
This section is intended to make thoroughly clear what is believed to
|
||||||
|
be a consequence of the rest of this License.
|
||||||
|
|
||||||
|
8. If the distribution and/or use of the Program is restricted in
|
||||||
|
certain countries either by patents or by copyrighted interfaces, the
|
||||||
|
original copyright holder who places the Program under this License
|
||||||
|
may add an explicit geographical distribution limitation excluding
|
||||||
|
those countries, so that distribution is permitted only in or among
|
||||||
|
countries not thus excluded. In such case, this License incorporates
|
||||||
|
the limitation as if written in the body of this License.
|
||||||
|
|
||||||
|
9. The Free Software Foundation may publish revised and/or new versions
|
||||||
|
of the General Public License from time to time. Such new versions will
|
||||||
|
be similar in spirit to the present version, but may differ in detail to
|
||||||
|
address new problems or concerns.
|
||||||
|
|
||||||
|
Each version is given a distinguishing version number. If the Program
|
||||||
|
specifies a version number of this License which applies to it and "any
|
||||||
|
later version", you have the option of following the terms and conditions
|
||||||
|
either of that version or of any later version published by the Free
|
||||||
|
Software Foundation. If the Program does not specify a version number of
|
||||||
|
this License, you may choose any version ever published by the Free Software
|
||||||
|
Foundation.
|
||||||
|
|
||||||
|
10. If you wish to incorporate parts of the Program into other free
|
||||||
|
programs whose distribution conditions are different, write to the author
|
||||||
|
to ask for permission. For software which is copyrighted by the Free
|
||||||
|
Software Foundation, write to the Free Software Foundation; we sometimes
|
||||||
|
make exceptions for this. Our decision will be guided by the two goals
|
||||||
|
of preserving the free status of all derivatives of our free software and
|
||||||
|
of promoting the sharing and reuse of software generally.
|
||||||
|
|
||||||
|
NO WARRANTY
|
||||||
|
|
||||||
|
11. BECAUSE THE PROGRAM IS LICENSED FREE OF CHARGE, THERE IS NO WARRANTY
|
||||||
|
FOR THE PROGRAM, TO THE EXTENT PERMITTED BY APPLICABLE LAW. EXCEPT WHEN
|
||||||
|
OTHERWISE STATED IN WRITING THE COPYRIGHT HOLDERS AND/OR OTHER PARTIES
|
||||||
|
PROVIDE THE PROGRAM "AS IS" WITHOUT WARRANTY OF ANY KIND, EITHER EXPRESSED
|
||||||
|
OR IMPLIED, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
|
||||||
|
MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE. THE ENTIRE RISK AS
|
||||||
|
TO THE QUALITY AND PERFORMANCE OF THE PROGRAM IS WITH YOU. SHOULD THE
|
||||||
|
PROGRAM PROVE DEFECTIVE, YOU ASSUME THE COST OF ALL NECESSARY SERVICING,
|
||||||
|
REPAIR OR CORRECTION.
|
||||||
|
|
||||||
|
12. IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN WRITING
|
||||||
|
WILL ANY COPYRIGHT HOLDER, OR ANY OTHER PARTY WHO MAY MODIFY AND/OR
|
||||||
|
REDISTRIBUTE THE PROGRAM AS PERMITTED ABOVE, BE LIABLE TO YOU FOR DAMAGES,
|
||||||
|
INCLUDING ANY GENERAL, SPECIAL, INCIDENTAL OR CONSEQUENTIAL DAMAGES ARISING
|
||||||
|
OUT OF THE USE OR INABILITY TO USE THE PROGRAM (INCLUDING BUT NOT LIMITED
|
||||||
|
TO LOSS OF DATA OR DATA BEING RENDERED INACCURATE OR LOSSES SUSTAINED BY
|
||||||
|
YOU OR THIRD PARTIES OR A FAILURE OF THE PROGRAM TO OPERATE WITH ANY OTHER
|
||||||
|
PROGRAMS), EVEN IF SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE
|
||||||
|
POSSIBILITY OF SUCH DAMAGES.
|
||||||
|
|
||||||
|
END OF TERMS AND CONDITIONS
|
||||||
|
|
||||||
|
How to Apply These Terms to Your New Programs
|
||||||
|
|
||||||
|
If you develop a new program, and you want it to be of the greatest
|
||||||
|
possible use to the public, the best way to achieve this is to make it
|
||||||
|
free software which everyone can redistribute and change under these terms.
|
||||||
|
|
||||||
|
To do so, attach the following notices to the program. It is safest
|
||||||
|
to attach them to the start of each source file to most effectively
|
||||||
|
convey the exclusion of warranty; and each file should have at least
|
||||||
|
the "copyright" line and a pointer to where the full notice is found.
|
||||||
|
|
||||||
|
<one line to give the program's name and a brief idea of what it does.>
|
||||||
|
Copyright (C) <year> <name of author>
|
||||||
|
|
||||||
|
This program 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; either version 2 of the License, or
|
||||||
|
(at your option) any later version.
|
||||||
|
|
||||||
|
This program 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 this program; if not, write to the Free Software Foundation, Inc.,
|
||||||
|
51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.
|
||||||
|
|
||||||
|
Also add information on how to contact you by electronic and paper mail.
|
||||||
|
|
||||||
|
If the program is interactive, make it output a short notice like this
|
||||||
|
when it starts in an interactive mode:
|
||||||
|
|
||||||
|
Gnomovision version 69, Copyright (C) year name of author
|
||||||
|
Gnomovision comes with ABSOLUTELY NO WARRANTY; for details type `show w'.
|
||||||
|
This is free software, and you are welcome to redistribute it
|
||||||
|
under certain conditions; type `show c' for details.
|
||||||
|
|
||||||
|
The hypothetical commands `show w' and `show c' should show the appropriate
|
||||||
|
parts of the General Public License. Of course, the commands you use may
|
||||||
|
be called something other than `show w' and `show c'; they could even be
|
||||||
|
mouse-clicks or menu items--whatever suits your program.
|
||||||
|
|
||||||
|
You should also get your employer (if you work as a programmer) or your
|
||||||
|
school, if any, to sign a "copyright disclaimer" for the program, if
|
||||||
|
necessary. Here is a sample; alter the names:
|
||||||
|
|
||||||
|
Yoyodyne, Inc., hereby disclaims all copyright interest in the program
|
||||||
|
`Gnomovision' (which makes passes at compilers) written by James Hacker.
|
||||||
|
|
||||||
|
<signature of Ty Coon>, 1 April 1989
|
||||||
|
Ty Coon, President of Vice
|
||||||
|
|
||||||
|
This General Public License does not permit incorporating your program into
|
||||||
|
proprietary programs. If your program is a subroutine library, you may
|
||||||
|
consider it more useful to permit linking proprietary applications with the
|
||||||
|
library. If this is what you want to do, use the GNU Lesser General
|
||||||
|
Public License instead of this License.
|
||||||
|
|
@ -0,0 +1,57 @@
|
||||||
|
#------------------------------------------------------------------------------
|
||||||
|
#
|
||||||
|
# $Id$
|
||||||
|
#
|
||||||
|
# Copyright (C) 2006-2008 Florian Pose, Ingenieurgemeinschaft IgH
|
||||||
|
#
|
||||||
|
# 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.
|
||||||
|
#
|
||||||
|
# ---
|
||||||
|
#
|
||||||
|
# vim: syntax=make
|
||||||
|
#
|
||||||
|
#------------------------------------------------------------------------------
|
||||||
|
|
||||||
|
TOPDIR := $(src)/../..
|
||||||
|
|
||||||
|
REV := $(shell if test -s $(TOPDIR)/revision; then \
|
||||||
|
cat $(TOPDIR)/revision; \
|
||||||
|
else \
|
||||||
|
hg id -i $(TOPDIR) 2>/dev/null || echo "unknown"; \
|
||||||
|
fi)
|
||||||
|
|
||||||
|
ifeq (@ENABLE_CCAT@,1)
|
||||||
|
EC_CCAT_OBJ := \
|
||||||
|
module.o \
|
||||||
|
netdev.o \
|
||||||
|
print.o \
|
||||||
|
update.o
|
||||||
|
obj-m += ec_ccat.o
|
||||||
|
ec_ccat-objs := $(EC_CCAT_OBJ)
|
||||||
|
CFLAGS_ccat_main-@KERNEL_CCAT@-ethercat.o = -DREV=$(REV)
|
||||||
|
endif
|
||||||
|
|
||||||
|
KBUILD_EXTRA_SYMBOLS := \
|
||||||
|
@abs_top_builddir@/$(LINUX_SYMVERS) \
|
||||||
|
@abs_top_builddir@/master/$(LINUX_SYMVERS)
|
||||||
|
|
||||||
|
#------------------------------------------------------------------------------
|
||||||
|
|
@ -0,0 +1,55 @@
|
||||||
|
#------------------------------------------------------------------------------
|
||||||
|
#
|
||||||
|
# $Id$
|
||||||
|
#
|
||||||
|
# Copyright (C) 2006-2008 Florian Pose, Ingenieurgemeinschaft IgH
|
||||||
|
#
|
||||||
|
# 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.
|
||||||
|
#
|
||||||
|
#------------------------------------------------------------------------------
|
||||||
|
|
||||||
|
EXTRA_DIST = \
|
||||||
|
Kbuild.in \
|
||||||
|
COPYING \
|
||||||
|
module-3.4-ethercat.h \
|
||||||
|
module.h \
|
||||||
|
netdev-3.4-ethercat.h \
|
||||||
|
netdev.h \
|
||||||
|
print-3.4-ethercat.h \
|
||||||
|
print.h \
|
||||||
|
update-3.4-ethercat.h \
|
||||||
|
update.h
|
||||||
|
|
||||||
|
BUILT_SOURCES = \
|
||||||
|
Kbuild
|
||||||
|
|
||||||
|
modules:
|
||||||
|
$(MAKE) -C "$(LINUX_SOURCE_DIR)" M="@abs_srcdir@" modules
|
||||||
|
|
||||||
|
modules_install:
|
||||||
|
$(MAKE) -C "$(LINUX_SOURCE_DIR)" M="@abs_srcdir@" \
|
||||||
|
INSTALL_MOD_DIR="$(INSTALL_MOD_DIR)" modules_install
|
||||||
|
|
||||||
|
clean-local:
|
||||||
|
$(MAKE) -C "$(LINUX_SOURCE_DIR)" M="@abs_srcdir@" clean
|
||||||
|
|
||||||
|
#------------------------------------------------------------------------------
|
||||||
|
|
@ -0,0 +1,48 @@
|
||||||
|
/**
|
||||||
|
Network Driver for Beckhoff CCAT communication controller
|
||||||
|
Copyright (C) 2014 Beckhoff Automation GmbH
|
||||||
|
Author: Patrick Bruenn <p.bruenn@beckhoff.com>
|
||||||
|
|
||||||
|
This program 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; either version 2 of the License, or
|
||||||
|
(at your option) any later version.
|
||||||
|
|
||||||
|
This program 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 this program; if not, write to the Free Software Foundation, Inc.,
|
||||||
|
51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.
|
||||||
|
*/
|
||||||
|
|
||||||
|
#ifndef _CCAT_COMPAT_H_
|
||||||
|
#define _CCAT_COMPAT_H_
|
||||||
|
#include <linux/dma-mapping.h>
|
||||||
|
#include <linux/sched.h>
|
||||||
|
#include <linux/version.h>
|
||||||
|
|
||||||
|
#if LINUX_VERSION_CODE <= KERNEL_VERSION(2, 6, 32)
|
||||||
|
#define pr_warn pr_info
|
||||||
|
|
||||||
|
#define netdev_info(DEV, ...) pr_info(__VA_ARGS__)
|
||||||
|
#define netdev_err netdev_info
|
||||||
|
|
||||||
|
static inline void *dma_zalloc_coherent(struct device *dev, size_t size,
|
||||||
|
dma_addr_t * dma_handle, gfp_t flag)
|
||||||
|
{
|
||||||
|
void *result =
|
||||||
|
dma_alloc_coherent(dev, size, dma_handle, flag | __GFP_ZERO);
|
||||||
|
if (result)
|
||||||
|
memset(result, 0, size);
|
||||||
|
return result;
|
||||||
|
}
|
||||||
|
|
||||||
|
static inline void usleep_range(unsigned long min, unsigned long max)
|
||||||
|
{
|
||||||
|
msleep(min / 1000);
|
||||||
|
}
|
||||||
|
#endif
|
||||||
|
#endif /* #ifndef _CCAT_COMPAT_H_ */
|
||||||
|
|
@ -0,0 +1,306 @@
|
||||||
|
/**
|
||||||
|
Network Driver for Beckhoff CCAT communication controller
|
||||||
|
Copyright (C) 2014 Beckhoff Automation GmbH
|
||||||
|
Author: Patrick Bruenn <p.bruenn@beckhoff.com>
|
||||||
|
|
||||||
|
This program 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; either version 2 of the License, or
|
||||||
|
(at your option) any later version.
|
||||||
|
|
||||||
|
This program 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 this program; if not, write to the Free Software Foundation, Inc.,
|
||||||
|
51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.
|
||||||
|
*/
|
||||||
|
|
||||||
|
#include <asm/dma.h>
|
||||||
|
#include <linux/etherdevice.h>
|
||||||
|
#include <linux/module.h>
|
||||||
|
#include <linux/netdevice.h>
|
||||||
|
#include "compat.h"
|
||||||
|
#include "module.h"
|
||||||
|
#include "netdev.h"
|
||||||
|
#include "update.h"
|
||||||
|
|
||||||
|
MODULE_DESCRIPTION(DRV_DESCRIPTION);
|
||||||
|
MODULE_AUTHOR("Patrick Bruenn <p.bruenn@beckhoff.com>");
|
||||||
|
MODULE_LICENSE("GPL");
|
||||||
|
MODULE_VERSION(DRV_VERSION);
|
||||||
|
|
||||||
|
static void ccat_bar_free(struct ccat_bar *bar)
|
||||||
|
{
|
||||||
|
if (bar->ioaddr) {
|
||||||
|
const struct ccat_bar tmp = *bar;
|
||||||
|
memset(bar, 0, sizeof(*bar));
|
||||||
|
iounmap(tmp.ioaddr);
|
||||||
|
release_mem_region(tmp.start, tmp.len);
|
||||||
|
} else {
|
||||||
|
pr_warn("%s(): %p was already done.\n", __FUNCTION__, bar);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* ccat_bar_init() - Initialize a CCAT pci bar
|
||||||
|
* @bar object which should be initialized
|
||||||
|
* @index 0 and 2 are valid for CCAT, meaning pci bar0 or pci bar2
|
||||||
|
* @pdev the pci device as which the CCAT was recognized before
|
||||||
|
*
|
||||||
|
* Reading PCI config space; request and map memory region.
|
||||||
|
*/
|
||||||
|
static int ccat_bar_init(struct ccat_bar *bar, size_t index,
|
||||||
|
struct pci_dev *pdev)
|
||||||
|
{
|
||||||
|
struct resource *res;
|
||||||
|
bar->start = pci_resource_start(pdev, index);
|
||||||
|
bar->end = pci_resource_end(pdev, index);
|
||||||
|
bar->len = pci_resource_len(pdev, index);
|
||||||
|
bar->flags = pci_resource_flags(pdev, index);
|
||||||
|
if (!(IORESOURCE_MEM & bar->flags)) {
|
||||||
|
pr_info("bar%llu is no mem_region -> abort.\n",
|
||||||
|
(uint64_t) index);
|
||||||
|
return -EIO;
|
||||||
|
}
|
||||||
|
|
||||||
|
res = request_mem_region(bar->start, bar->len, DRV_NAME);
|
||||||
|
if (!res) {
|
||||||
|
pr_info("allocate mem_region failed.\n");
|
||||||
|
return -EIO;
|
||||||
|
}
|
||||||
|
pr_debug("bar%llu at [%lx,%lx] len=%lu res: %p.\n", (uint64_t) index,
|
||||||
|
bar->start, bar->end, bar->len, res);
|
||||||
|
|
||||||
|
bar->ioaddr = ioremap(bar->start, bar->len);
|
||||||
|
if (!bar->ioaddr) {
|
||||||
|
pr_info("bar%llu ioremap failed.\n", (uint64_t) index);
|
||||||
|
release_mem_region(bar->start, bar->len);
|
||||||
|
return -EIO;
|
||||||
|
}
|
||||||
|
pr_debug("bar%llu I/O mem mapped to %p.\n", (uint64_t) index,
|
||||||
|
bar->ioaddr);
|
||||||
|
return 0;
|
||||||
|
}
|
||||||
|
|
||||||
|
void ccat_dma_free(struct ccat_dma *const dma)
|
||||||
|
{
|
||||||
|
const struct ccat_dma tmp = *dma;
|
||||||
|
free_dma(dma->channel);
|
||||||
|
memset(dma, 0, sizeof(*dma));
|
||||||
|
dma_free_coherent(tmp.dev, tmp.size, tmp.virt, tmp.phys);
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* ccat_dma_init() - Initialize CCAT and host memory for DMA transfer
|
||||||
|
* @dma object for management data which will be initialized
|
||||||
|
* @channel number of the DMA channel
|
||||||
|
* @ioaddr of the pci bar2 configspace used to calculate the address of the pci dma configuration
|
||||||
|
* @dev which should be configured for DMA
|
||||||
|
*/
|
||||||
|
int ccat_dma_init(struct ccat_dma *const dma, size_t channel,
|
||||||
|
void __iomem * const ioaddr, struct device *const dev)
|
||||||
|
{
|
||||||
|
void *frame;
|
||||||
|
uint64_t addr;
|
||||||
|
uint32_t translateAddr;
|
||||||
|
uint32_t memTranslate;
|
||||||
|
uint32_t memSize;
|
||||||
|
uint32_t data = 0xffffffff;
|
||||||
|
uint32_t offset = (sizeof(uint64_t) * channel) + 0x1000;
|
||||||
|
|
||||||
|
dma->channel = channel;
|
||||||
|
dma->dev = dev;
|
||||||
|
|
||||||
|
/* calculate size and alignments */
|
||||||
|
iowrite32(data, ioaddr + offset);
|
||||||
|
wmb();
|
||||||
|
data = ioread32(ioaddr + offset);
|
||||||
|
memTranslate = data & 0xfffffffc;
|
||||||
|
memSize = (~memTranslate) + 1;
|
||||||
|
dma->size = 2 * memSize - PAGE_SIZE;
|
||||||
|
dma->virt = dma_zalloc_coherent(dev, dma->size, &dma->phys, GFP_KERNEL);
|
||||||
|
if (!dma->virt || !dma->phys) {
|
||||||
|
pr_info("init DMA%llu memory failed.\n", (uint64_t) channel);
|
||||||
|
return -1;
|
||||||
|
}
|
||||||
|
|
||||||
|
if (request_dma(channel, DRV_NAME)) {
|
||||||
|
pr_info("request dma channel %llu failed\n",
|
||||||
|
(uint64_t) channel);
|
||||||
|
ccat_dma_free(dma);
|
||||||
|
return -1;
|
||||||
|
}
|
||||||
|
|
||||||
|
translateAddr = (dma->phys + memSize - PAGE_SIZE) & memTranslate;
|
||||||
|
addr = translateAddr;
|
||||||
|
memcpy_toio(ioaddr + offset, &addr, sizeof(addr));
|
||||||
|
frame = dma->virt + translateAddr - dma->phys;
|
||||||
|
pr_debug
|
||||||
|
("DMA%llu mem initialized\n virt: 0x%p\n phys: 0x%llx\n translated: 0x%llx\n pci addr: 0x%08x%x\n memTranslate: 0x%x\n size: %llu bytes.\n",
|
||||||
|
(uint64_t) channel, dma->virt, (uint64_t) (dma->phys), addr,
|
||||||
|
ioread32(ioaddr + offset + 4), ioread32(ioaddr + offset),
|
||||||
|
memTranslate, (uint64_t) dma->size);
|
||||||
|
return 0;
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Initialize all available CCAT functions.
|
||||||
|
*
|
||||||
|
* Return: count of failed functions
|
||||||
|
*/
|
||||||
|
static int ccat_functions_init(struct ccat_device *const ccatdev)
|
||||||
|
{
|
||||||
|
/* read CCatInfoBlock.nMaxEntries from ccat */
|
||||||
|
const uint8_t num_func = ioread8(ccatdev->bar[0].ioaddr + 4);
|
||||||
|
void __iomem *addr = ccatdev->bar[0].ioaddr;
|
||||||
|
const void __iomem *end = addr + (sizeof(CCatInfoBlock) * num_func);
|
||||||
|
int status = 0; //count init function failures
|
||||||
|
|
||||||
|
while (addr < end) {
|
||||||
|
const uint8_t type = ioread16(addr);
|
||||||
|
switch (type) {
|
||||||
|
case CCATINFO_NOTUSED:
|
||||||
|
break;
|
||||||
|
case CCATINFO_EPCS_PROM:
|
||||||
|
pr_info("Found: CCAT update(EPCS_PROM) -> init()\n");
|
||||||
|
ccatdev->update = ccat_update_init(ccatdev, addr);
|
||||||
|
status += (NULL == ccatdev->update);
|
||||||
|
break;
|
||||||
|
case CCATINFO_ETHERCAT_MASTER_DMA:
|
||||||
|
pr_info("Found: ETHERCAT_MASTER_DMA -> init()\n");
|
||||||
|
ccatdev->ethdev = ccat_eth_init(ccatdev, addr);
|
||||||
|
status += (NULL == ccatdev->ethdev);
|
||||||
|
break;
|
||||||
|
default:
|
||||||
|
pr_info("Found: 0x%04x not supported\n", type);
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
addr += sizeof(CCatInfoBlock);
|
||||||
|
}
|
||||||
|
return status;
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Destroy all previously initialized CCAT functions
|
||||||
|
*/
|
||||||
|
static void ccat_functions_remove(struct ccat_device *const ccatdev)
|
||||||
|
{
|
||||||
|
if (!ccatdev->ethdev) {
|
||||||
|
pr_warn("%s(): 'ethdev' was not initialized.\n", __FUNCTION__);
|
||||||
|
} else {
|
||||||
|
struct ccat_eth_priv *const ethdev = ccatdev->ethdev;
|
||||||
|
ccatdev->ethdev = NULL;
|
||||||
|
ccat_eth_remove(ethdev);
|
||||||
|
}
|
||||||
|
if (!ccatdev->update) {
|
||||||
|
pr_warn("%s(): 'update' was not initialized.\n", __FUNCTION__);
|
||||||
|
} else {
|
||||||
|
struct ccat_update *const update = ccatdev->update;
|
||||||
|
ccatdev->update = NULL;
|
||||||
|
ccat_update_remove(update);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
static int ccat_probe(struct pci_dev *pdev, const struct pci_device_id *id)
|
||||||
|
{
|
||||||
|
int status;
|
||||||
|
u8 revision;
|
||||||
|
struct ccat_device *ccatdev = kmalloc(sizeof(*ccatdev), GFP_KERNEL);
|
||||||
|
if (!ccatdev) {
|
||||||
|
pr_err("%s() out of memory.\n", __FUNCTION__);
|
||||||
|
return -ENOMEM;
|
||||||
|
}
|
||||||
|
memset(ccatdev, 0, sizeof(*ccatdev));
|
||||||
|
ccatdev->pdev = pdev;
|
||||||
|
pci_set_drvdata(pdev, ccatdev);
|
||||||
|
|
||||||
|
status = pci_enable_device_mem(pdev);
|
||||||
|
if (status) {
|
||||||
|
pr_info("enable %s failed: %d\n", pdev->dev.kobj.name, status);
|
||||||
|
return status;
|
||||||
|
}
|
||||||
|
|
||||||
|
status = pci_read_config_byte(pdev, PCI_REVISION_ID, &revision);
|
||||||
|
if (status) {
|
||||||
|
pr_warn("read CCAT pci revision failed with %d\n", status);
|
||||||
|
return status;
|
||||||
|
}
|
||||||
|
|
||||||
|
/* FIXME upgrade to a newer kernel to get support of dma_set_mask_and_coherent()
|
||||||
|
* (!dma_set_mask_and_coherent(&dev->dev, DMA_BIT_MASK(64))) {
|
||||||
|
*/
|
||||||
|
if (!dma_set_mask(&pdev->dev, DMA_BIT_MASK(64))) {
|
||||||
|
pr_debug("64 bit DMA supported, pci rev: %u\n", revision);
|
||||||
|
/*} else if (!dma_set_mask_and_coherent(&dev->dev, DMA_BIT_MASK(32))) { */
|
||||||
|
} else if (!dma_set_mask(&pdev->dev, DMA_BIT_MASK(32))) {
|
||||||
|
pr_debug("32 bit DMA supported, pci rev: %u\n", revision);
|
||||||
|
} else {
|
||||||
|
pr_warn("No suitable DMA available, pci rev: %u\n", revision);
|
||||||
|
}
|
||||||
|
|
||||||
|
if (ccat_bar_init(&ccatdev->bar[0], 0, pdev)) {
|
||||||
|
pr_warn("initialization of bar0 failed.\n");
|
||||||
|
return -EIO;
|
||||||
|
}
|
||||||
|
|
||||||
|
if (ccat_bar_init(&ccatdev->bar[2], 2, pdev)) {
|
||||||
|
pr_warn("initialization of bar2 failed.\n");
|
||||||
|
return -EIO;
|
||||||
|
}
|
||||||
|
|
||||||
|
pci_set_master(pdev);
|
||||||
|
if (ccat_functions_init(ccatdev)) {
|
||||||
|
pr_warn("some functions couldn't be initialized\n");
|
||||||
|
}
|
||||||
|
return 0;
|
||||||
|
}
|
||||||
|
|
||||||
|
static void ccat_remove(struct pci_dev *pdev)
|
||||||
|
{
|
||||||
|
struct ccat_device *ccatdev = pci_get_drvdata(pdev);
|
||||||
|
if (ccatdev) {
|
||||||
|
ccat_functions_remove(ccatdev);
|
||||||
|
ccat_bar_free(&ccatdev->bar[2]);
|
||||||
|
ccat_bar_free(&ccatdev->bar[0]);
|
||||||
|
pci_disable_device(pdev);
|
||||||
|
pci_set_drvdata(pdev, NULL);
|
||||||
|
kfree(ccatdev);
|
||||||
|
}
|
||||||
|
pr_debug("%s() done.\n", __FUNCTION__);
|
||||||
|
}
|
||||||
|
|
||||||
|
#define PCI_DEVICE_ID_BECKHOFF_CCAT 0x5000
|
||||||
|
#define PCI_VENDOR_ID_BECKHOFF 0x15EC
|
||||||
|
|
||||||
|
static const struct pci_device_id pci_ids[] = {
|
||||||
|
{PCI_DEVICE(PCI_VENDOR_ID_BECKHOFF, PCI_DEVICE_ID_BECKHOFF_CCAT)},
|
||||||
|
{0,},
|
||||||
|
};
|
||||||
|
|
||||||
|
MODULE_DEVICE_TABLE(pci, pci_ids);
|
||||||
|
|
||||||
|
static struct pci_driver pci_driver = {
|
||||||
|
.name = DRV_NAME,
|
||||||
|
.id_table = pci_ids,
|
||||||
|
.probe = ccat_probe,
|
||||||
|
.remove = ccat_remove,
|
||||||
|
};
|
||||||
|
|
||||||
|
static void ccat_exit_module(void)
|
||||||
|
{
|
||||||
|
pci_unregister_driver(&pci_driver);
|
||||||
|
}
|
||||||
|
|
||||||
|
static int ccat_init_module(void)
|
||||||
|
{
|
||||||
|
BUILD_BUG_ON(offsetof(struct ccat_eth_frame, data) !=
|
||||||
|
CCAT_DMA_FRAME_HEADER_LENGTH);
|
||||||
|
pr_info("%s, %s\n", DRV_DESCRIPTION, DRV_VERSION);
|
||||||
|
return pci_register_driver(&pci_driver);
|
||||||
|
}
|
||||||
|
|
||||||
|
module_exit(ccat_exit_module);
|
||||||
|
module_init(ccat_init_module);
|
||||||
|
|
@ -0,0 +1,208 @@
|
||||||
|
/**
|
||||||
|
Network Driver for Beckhoff CCAT communication controller
|
||||||
|
Copyright (C) 2014 Beckhoff Automation GmbH
|
||||||
|
Author: Patrick Bruenn <p.bruenn@beckhoff.com>
|
||||||
|
|
||||||
|
This program 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; either version 2 of the License, or
|
||||||
|
(at your option) any later version.
|
||||||
|
|
||||||
|
This program 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 this program; if not, write to the Free Software Foundation, Inc.,
|
||||||
|
51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.
|
||||||
|
*/
|
||||||
|
|
||||||
|
#ifndef _CCAT_H_
|
||||||
|
#define _CCAT_H_
|
||||||
|
|
||||||
|
#include <linux/cdev.h>
|
||||||
|
#include <linux/kernel.h>
|
||||||
|
#include <linux/pci.h>
|
||||||
|
#include "CCatDefinitions.h"
|
||||||
|
#include "../ecdev.h"
|
||||||
|
|
||||||
|
#define DRV_NAME "ec_ccat"
|
||||||
|
#define DRV_EXTRAVERSION "-ec"
|
||||||
|
#define DRV_VERSION "0.8" DRV_EXTRAVERSION
|
||||||
|
#define DRV_DESCRIPTION "Beckhoff CCAT Ethernet/EtherCAT Network Driver"
|
||||||
|
|
||||||
|
#undef pr_fmt
|
||||||
|
#define pr_fmt(fmt) KBUILD_MODNAME ": " fmt
|
||||||
|
|
||||||
|
/**
|
||||||
|
* struct ccat_bar - CCAT PCI Base Address Register(BAR) configuration
|
||||||
|
* @start: start address of this BAR
|
||||||
|
* @end: end address of this BAR
|
||||||
|
* @len: length of this BAR
|
||||||
|
* @flags: flags set on this BAR
|
||||||
|
* @ioaddr: ioremapped address of this bar
|
||||||
|
*/
|
||||||
|
struct ccat_bar {
|
||||||
|
unsigned long start;
|
||||||
|
unsigned long end;
|
||||||
|
unsigned long len;
|
||||||
|
unsigned long flags;
|
||||||
|
void __iomem *ioaddr;
|
||||||
|
};
|
||||||
|
|
||||||
|
/**
|
||||||
|
* struct ccat_dma - CCAT DMA channel configuration
|
||||||
|
* @phys: device-viewed address(physical) of the associated DMA memory
|
||||||
|
* @virt: CPU-viewed address(virtual) of the associated DMA memory
|
||||||
|
* @size: number of bytes in the associated DMA memory
|
||||||
|
* @channel: CCAT DMA channel number
|
||||||
|
* @dev: valid struct device pointer
|
||||||
|
*/
|
||||||
|
struct ccat_dma {
|
||||||
|
dma_addr_t phys;
|
||||||
|
void *virt;
|
||||||
|
size_t size;
|
||||||
|
size_t channel;
|
||||||
|
struct device *dev;
|
||||||
|
};
|
||||||
|
|
||||||
|
extern void ccat_dma_free(struct ccat_dma *const dma);
|
||||||
|
extern int ccat_dma_init(struct ccat_dma *const dma, size_t channel,
|
||||||
|
void __iomem * const ioaddr, struct device *const dev);
|
||||||
|
|
||||||
|
/**
|
||||||
|
* struct ccat_eth_frame - Ethernet frame with DMA descriptor header in front
|
||||||
|
* @reservedn: is not used and should always be set to 0
|
||||||
|
* @received: used for reception, is set to 1 by the CCAT when data was written
|
||||||
|
* @length: number of bytes in the frame including the DMA header
|
||||||
|
* @sent: is set to 1 by the CCAT when data was transmitted
|
||||||
|
* @timestamp: a 64 bit EtherCAT timestamp
|
||||||
|
* @data: the bytes of the ethernet frame
|
||||||
|
*/
|
||||||
|
struct ccat_eth_frame {
|
||||||
|
uint32_t reserved1;
|
||||||
|
uint32_t received:1;
|
||||||
|
uint32_t reserved2:31;
|
||||||
|
uint16_t length;
|
||||||
|
uint16_t reserved3;
|
||||||
|
uint32_t sent:1;
|
||||||
|
uint32_t reserved4:31;
|
||||||
|
uint64_t timestamp;
|
||||||
|
uint8_t data[0x800 - 3 * sizeof(uint64_t)];
|
||||||
|
};
|
||||||
|
|
||||||
|
/**
|
||||||
|
* struct ccat_eth_register - CCAT register addresses in the PCI BAR
|
||||||
|
* @mii: address of the CCAT management interface register
|
||||||
|
* @tx_fifo: address of the CCAT TX DMA fifo register
|
||||||
|
* @rx_fifo: address of the CCAT RX DMA fifo register
|
||||||
|
* @mac: address of the CCAT media access control register
|
||||||
|
* @rx_mem: address of the CCAT register holding the RX DMA address
|
||||||
|
* @tx_mem: address of the CCAT register holding the TX DMA address
|
||||||
|
* @misc: address of a CCAT register holding miscellaneous information
|
||||||
|
*/
|
||||||
|
struct ccat_eth_register {
|
||||||
|
void __iomem *mii;
|
||||||
|
void __iomem *tx_fifo;
|
||||||
|
void __iomem *rx_fifo;
|
||||||
|
void __iomem *mac;
|
||||||
|
void __iomem *rx_mem;
|
||||||
|
void __iomem *tx_mem;
|
||||||
|
void __iomem *misc;
|
||||||
|
};
|
||||||
|
|
||||||
|
/**
|
||||||
|
* struct ccat_eth_dma_fifo - CCAT RX or TX DMA fifo
|
||||||
|
* @add: callback used to add a frame to this fifo
|
||||||
|
* @reg: PCI register address of this DMA fifo
|
||||||
|
* @dma: information about the associated DMA memory
|
||||||
|
*/
|
||||||
|
struct ccat_eth_dma_fifo {
|
||||||
|
void (*add) (struct ccat_eth_frame *, struct ccat_eth_dma_fifo *);
|
||||||
|
void __iomem *reg;
|
||||||
|
struct ccat_dma dma;
|
||||||
|
};
|
||||||
|
|
||||||
|
/**
|
||||||
|
* struct ccat_device - CCAT device representation
|
||||||
|
* @pdev: pointer to the pci object allocated by the kernel
|
||||||
|
* @ethdev: CCAT Ethernet/EtherCAT Master (with DMA) function, NULL if function is not available or failed to initialize
|
||||||
|
* @update: CCAT Update function, NULL if function is not available or failed to initialize
|
||||||
|
* @bar [0] and [2] holding information about PCI BARs 0 and 2.
|
||||||
|
*
|
||||||
|
* One instance of a ccat_device should represent a physical CCAT. Since
|
||||||
|
* a CCAT is implemented as FPGA the available functions can vary so
|
||||||
|
* the function object pointers can be NULL.
|
||||||
|
* Extra note: you will recognize that PCI BAR1 is not used and is a
|
||||||
|
* waste of memory, thats true but right now, its very easy to use it
|
||||||
|
* this way. So we might optimize it later.
|
||||||
|
*/
|
||||||
|
struct ccat_device {
|
||||||
|
struct pci_dev *pdev;
|
||||||
|
struct ccat_eth_priv *ethdev;
|
||||||
|
struct ccat_update *update;
|
||||||
|
struct ccat_bar bar[3]; //TODO optimize this
|
||||||
|
};
|
||||||
|
|
||||||
|
/**
|
||||||
|
* struct ccat_eth_priv - CCAT Ethernet/EtherCAT Master function (netdev)
|
||||||
|
* @ccatdev: pointer to the parent struct ccat_device
|
||||||
|
* @netdev: the net_device structure used by the kernel networking stack
|
||||||
|
* @poll_thread: is used to poll status registers like link state
|
||||||
|
* @rx_thread: thread which does housekeeping of RX DMA descriptors
|
||||||
|
* @tx_thread: thread which does housekeeping of TX DMA descriptors
|
||||||
|
* @next_tx_frame: pointer to the next TX DMA descriptor, which the tx_thread should check for availablity
|
||||||
|
* @info: holds a copy of the CCAT Ethernet/EtherCAT Master function information block (read from PCI config space)
|
||||||
|
* @reg: register addresses in PCI config space of the Ethernet/EtherCAT Master function
|
||||||
|
* @rx_fifo: DMA fifo used for RX DMA descriptors
|
||||||
|
* @tx_fifo: DMA fifo used for TX DMA descriptors
|
||||||
|
* @rx_bytes: number of bytes received -> reported with ndo_get_stats64()
|
||||||
|
* @rx_dropped: number of received frames, which were dropped -> reported with ndo_get_stats64()
|
||||||
|
* @tx_bytes: number of bytes send -> reported with ndo_get_stats64()
|
||||||
|
* @tx_dropped: number of frames requested to send, which were dropped -> reported with ndo_get_stats64()
|
||||||
|
*/
|
||||||
|
struct ccat_eth_priv {
|
||||||
|
const struct ccat_device *ccatdev;
|
||||||
|
struct net_device *netdev;
|
||||||
|
struct task_struct *poll_thread;
|
||||||
|
struct task_struct *rx_thread;
|
||||||
|
struct task_struct *tx_thread;
|
||||||
|
const struct ccat_eth_frame *next_tx_frame; /* next frame the tx_thread should check for availability */
|
||||||
|
CCatInfoBlock info;
|
||||||
|
struct ccat_eth_register reg;
|
||||||
|
struct ccat_eth_dma_fifo rx_fifo;
|
||||||
|
struct ccat_eth_dma_fifo tx_fifo;
|
||||||
|
atomic64_t rx_bytes;
|
||||||
|
atomic64_t rx_dropped;
|
||||||
|
atomic64_t tx_bytes;
|
||||||
|
atomic64_t tx_dropped;
|
||||||
|
ec_device_t *ecdev;
|
||||||
|
void (*carrier_off) (struct net_device * const netdev);
|
||||||
|
void (*carrier_on) (struct net_device * const netdev);
|
||||||
|
void (*kfree_skb_any) (struct sk_buff * skb);
|
||||||
|
void (*start_queue) (struct net_device * const netdev);
|
||||||
|
void (*stop_queue) (struct net_device * const netdev);
|
||||||
|
void (*tx_fifo_full) (struct net_device * const dev,
|
||||||
|
const struct ccat_eth_frame * const frame);
|
||||||
|
void (*unregister) (struct net_device * const netdev);
|
||||||
|
};
|
||||||
|
|
||||||
|
/**
|
||||||
|
* struct ccat_update - CCAT Update function (update)
|
||||||
|
* @ccatdev: pointer to the parent struct ccat_device
|
||||||
|
* @ioaddr: PCI base address of the CCAT Update function
|
||||||
|
* dev: device number for this update function
|
||||||
|
* cdev: character device used for the CCAT Update function
|
||||||
|
* class: pointer to a device class used when registering the CCAT Update device
|
||||||
|
* @info: holds a copy of the CCAT Update function information block (read from PCI config space)
|
||||||
|
*/
|
||||||
|
struct ccat_update {
|
||||||
|
struct kref refcount;
|
||||||
|
void __iomem *ioaddr;
|
||||||
|
dev_t dev;
|
||||||
|
struct cdev cdev;
|
||||||
|
struct class *class;
|
||||||
|
CCatInfoBlock info;
|
||||||
|
};
|
||||||
|
#endif /* #ifndef _CCAT_H_ */
|
||||||
|
|
@ -0,0 +1,595 @@
|
||||||
|
/**
|
||||||
|
Network Driver for Beckhoff CCAT communication controller
|
||||||
|
Copyright (C) 2014 Beckhoff Automation GmbH
|
||||||
|
Author: Patrick Bruenn <p.bruenn@beckhoff.com>
|
||||||
|
|
||||||
|
This program 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; either version 2 of the License, or
|
||||||
|
(at your option) any later version.
|
||||||
|
|
||||||
|
This program 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 this program; if not, write to the Free Software Foundation, Inc.,
|
||||||
|
51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.
|
||||||
|
*/
|
||||||
|
|
||||||
|
#include <linux/etherdevice.h>
|
||||||
|
#include <linux/init.h>
|
||||||
|
#include <linux/kernel.h>
|
||||||
|
#include <linux/kfifo.h>
|
||||||
|
#include <linux/kthread.h>
|
||||||
|
#include <linux/module.h>
|
||||||
|
#include <linux/netdevice.h>
|
||||||
|
#include <linux/spinlock.h>
|
||||||
|
|
||||||
|
#include "compat.h"
|
||||||
|
#include "module.h"
|
||||||
|
#include "netdev.h"
|
||||||
|
#include "print.h"
|
||||||
|
|
||||||
|
/**
|
||||||
|
* EtherCAT frame to enable forwarding on EtherCAT Terminals
|
||||||
|
*/
|
||||||
|
static const UINT8 frameForwardEthernetFrames[] = {
|
||||||
|
0x01, 0x01, 0x05, 0x01, 0x00, 0x00,
|
||||||
|
0x00, 0x1b, 0x21, 0x36, 0x1b, 0xce,
|
||||||
|
0x88, 0xa4, 0x0e, 0x10,
|
||||||
|
0x08,
|
||||||
|
0x00,
|
||||||
|
0x00, 0x00,
|
||||||
|
0x00, 0x01,
|
||||||
|
0x02, 0x00,
|
||||||
|
0x00, 0x00,
|
||||||
|
0x00, 0x00,
|
||||||
|
0x00, 0x00
|
||||||
|
};
|
||||||
|
|
||||||
|
#define FIFO_LENGTH 64
|
||||||
|
#define DMA_POLL_DELAY_RANGE_USECS 100, 100 /* time to sleep between rx/tx DMA polls */
|
||||||
|
#define POLL_DELAY_RANGE_USECS 500, 1000 /* time to sleep between link state polls */
|
||||||
|
|
||||||
|
static void ec_poll(struct net_device *dev);
|
||||||
|
static int run_poll_thread(void *data);
|
||||||
|
static int run_rx_thread(void *data);
|
||||||
|
static int run_tx_thread(void *data);
|
||||||
|
|
||||||
|
#if LINUX_VERSION_CODE >= KERNEL_VERSION(2, 6, 35)
|
||||||
|
static struct rtnl_link_stats64 *ccat_eth_get_stats64(struct net_device *dev, struct rtnl_link_stats64
|
||||||
|
*storage);
|
||||||
|
#endif
|
||||||
|
static int ccat_eth_open(struct net_device *dev);
|
||||||
|
static netdev_tx_t ccat_eth_start_xmit(struct sk_buff *skb,
|
||||||
|
struct net_device *dev);
|
||||||
|
static int ccat_eth_stop(struct net_device *dev);
|
||||||
|
static void ccat_eth_xmit_raw(struct net_device *dev, const char *data,
|
||||||
|
size_t len);
|
||||||
|
|
||||||
|
static const struct net_device_ops ccat_eth_netdev_ops = {
|
||||||
|
#if LINUX_VERSION_CODE >= KERNEL_VERSION(2, 6, 35)
|
||||||
|
.ndo_get_stats64 = ccat_eth_get_stats64,
|
||||||
|
#endif
|
||||||
|
.ndo_open = ccat_eth_open,
|
||||||
|
.ndo_start_xmit = ccat_eth_start_xmit,
|
||||||
|
.ndo_stop = ccat_eth_stop,
|
||||||
|
};
|
||||||
|
|
||||||
|
static void ecdev_kfree_skb_any(struct sk_buff *skb)
|
||||||
|
{
|
||||||
|
/* never release a skb in EtherCAT mode */
|
||||||
|
}
|
||||||
|
|
||||||
|
static void ecdev_carrier_on(struct net_device *const netdev)
|
||||||
|
{
|
||||||
|
struct ccat_eth_priv *const priv = netdev_priv(netdev);
|
||||||
|
ecdev_set_link(priv->ecdev, 1);
|
||||||
|
}
|
||||||
|
|
||||||
|
static void ecdev_carrier_off(struct net_device *const netdev)
|
||||||
|
{
|
||||||
|
struct ccat_eth_priv *const priv = netdev_priv(netdev);
|
||||||
|
ecdev_set_link(priv->ecdev, 0);
|
||||||
|
}
|
||||||
|
|
||||||
|
static void ecdev_nop(struct net_device *const netdev)
|
||||||
|
{
|
||||||
|
/* dummy called if nothing has to be done in EtherCAT operation mode */
|
||||||
|
}
|
||||||
|
|
||||||
|
static void ecdev_tx_fifo_full(struct net_device *const dev,
|
||||||
|
const struct ccat_eth_frame *const frame)
|
||||||
|
{
|
||||||
|
/* we are polled -> there is nothing we can do in EtherCAT mode */
|
||||||
|
}
|
||||||
|
|
||||||
|
static void unregister_ecdev(struct net_device *const netdev)
|
||||||
|
{
|
||||||
|
struct ccat_eth_priv *const priv = netdev_priv(netdev);
|
||||||
|
ecdev_close(priv->ecdev);
|
||||||
|
ecdev_withdraw(priv->ecdev);
|
||||||
|
}
|
||||||
|
|
||||||
|
typedef void (*fifo_add_function) (struct ccat_eth_frame *,
|
||||||
|
struct ccat_eth_dma_fifo *);
|
||||||
|
|
||||||
|
static void ccat_eth_rx_fifo_add(struct ccat_eth_frame *frame,
|
||||||
|
struct ccat_eth_dma_fifo *fifo)
|
||||||
|
{
|
||||||
|
const size_t offset = ((void *)(frame) - fifo->dma.virt);
|
||||||
|
const uint32_t addr_and_length = (1 << 31) | offset;
|
||||||
|
frame->received = 0;
|
||||||
|
iowrite32(addr_and_length, fifo->reg);
|
||||||
|
}
|
||||||
|
|
||||||
|
static void ccat_eth_tx_fifo_add_free(struct ccat_eth_frame *frame,
|
||||||
|
struct ccat_eth_dma_fifo *fifo)
|
||||||
|
{
|
||||||
|
/* mark frame as ready to use for tx */
|
||||||
|
frame->sent = 1;
|
||||||
|
}
|
||||||
|
|
||||||
|
static void ccat_eth_tx_fifo_full(struct net_device *const dev,
|
||||||
|
const struct ccat_eth_frame *const frame)
|
||||||
|
{
|
||||||
|
struct ccat_eth_priv *const priv = netdev_priv(dev);
|
||||||
|
netif_stop_queue(dev);
|
||||||
|
priv->next_tx_frame = frame;
|
||||||
|
wake_up_process(priv->tx_thread);
|
||||||
|
}
|
||||||
|
|
||||||
|
static void ccat_eth_dma_fifo_reset(struct ccat_eth_dma_fifo *fifo)
|
||||||
|
{
|
||||||
|
struct ccat_eth_frame *frame = fifo->dma.virt;
|
||||||
|
const struct ccat_eth_frame *const end = frame + FIFO_LENGTH;
|
||||||
|
|
||||||
|
/* reset hw fifo */
|
||||||
|
iowrite32(0, fifo->reg + 0x8);
|
||||||
|
wmb();
|
||||||
|
|
||||||
|
if (fifo->add) {
|
||||||
|
while (frame < end) {
|
||||||
|
fifo->add(frame, fifo);
|
||||||
|
++frame;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
static int ccat_eth_dma_fifo_init(struct ccat_eth_dma_fifo *fifo,
|
||||||
|
void __iomem * const fifo_reg,
|
||||||
|
fifo_add_function add, size_t channel,
|
||||||
|
struct ccat_eth_priv *const priv)
|
||||||
|
{
|
||||||
|
if (0 !=
|
||||||
|
ccat_dma_init(&fifo->dma, channel, priv->ccatdev->bar[2].ioaddr,
|
||||||
|
&priv->ccatdev->pdev->dev)) {
|
||||||
|
pr_info("init DMA%llu memory failed.\n", (uint64_t) channel);
|
||||||
|
return -1;
|
||||||
|
}
|
||||||
|
fifo->add = add;
|
||||||
|
fifo->reg = fifo_reg;
|
||||||
|
return 0;
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Stop both (Rx/Tx) DMA fifo's and free related management structures
|
||||||
|
*/
|
||||||
|
static void ccat_eth_priv_free_dma(struct ccat_eth_priv *priv)
|
||||||
|
{
|
||||||
|
/* reset hw fifo's */
|
||||||
|
iowrite32(0, priv->rx_fifo.reg + 0x8);
|
||||||
|
iowrite32(0, priv->tx_fifo.reg + 0x8);
|
||||||
|
wmb();
|
||||||
|
|
||||||
|
/* release dma */
|
||||||
|
ccat_dma_free(&priv->rx_fifo.dma);
|
||||||
|
ccat_dma_free(&priv->tx_fifo.dma);
|
||||||
|
pr_debug("DMA fifo's stopped.\n");
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Initalizes both (Rx/Tx) DMA fifo's and related management structures
|
||||||
|
*/
|
||||||
|
static int ccat_eth_priv_init_dma(struct ccat_eth_priv *priv)
|
||||||
|
{
|
||||||
|
if (ccat_eth_dma_fifo_init
|
||||||
|
(&priv->rx_fifo, priv->reg.rx_fifo, ccat_eth_rx_fifo_add,
|
||||||
|
priv->info.rxDmaChn, priv)) {
|
||||||
|
pr_warn("init Rx DMA fifo failed.\n");
|
||||||
|
return -1;
|
||||||
|
}
|
||||||
|
|
||||||
|
if (ccat_eth_dma_fifo_init
|
||||||
|
(&priv->tx_fifo, priv->reg.tx_fifo, ccat_eth_tx_fifo_add_free,
|
||||||
|
priv->info.txDmaChn, priv)) {
|
||||||
|
pr_warn("init Tx DMA fifo failed.\n");
|
||||||
|
ccat_dma_free(&priv->rx_fifo.dma);
|
||||||
|
return -1;
|
||||||
|
}
|
||||||
|
|
||||||
|
/* disable MAC filter */
|
||||||
|
iowrite8(0, priv->reg.mii + 0x8 + 6);
|
||||||
|
wmb();
|
||||||
|
return 0;
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Initializes the CCat... members of the ccat_eth_priv structure.
|
||||||
|
* Call this function only if info and ioaddr are already initialized!
|
||||||
|
*/
|
||||||
|
static void ccat_eth_priv_init_mappings(struct ccat_eth_priv *priv)
|
||||||
|
{
|
||||||
|
CCatInfoBlockOffs offsets;
|
||||||
|
void __iomem *const func_base =
|
||||||
|
priv->ccatdev->bar[0].ioaddr + priv->info.nAddr;
|
||||||
|
memcpy_fromio(&offsets, func_base, sizeof(offsets));
|
||||||
|
priv->reg.mii = func_base + offsets.nMMIOffs;
|
||||||
|
priv->reg.tx_fifo = func_base + offsets.nTxFifoOffs;
|
||||||
|
priv->reg.rx_fifo = func_base + offsets.nTxFifoOffs + 0x10;
|
||||||
|
priv->reg.mac = func_base + offsets.nMacRegOffs;
|
||||||
|
priv->reg.rx_mem = func_base + offsets.nRxMemOffs;
|
||||||
|
priv->reg.tx_mem = func_base + offsets.nTxMemOffs;
|
||||||
|
priv->reg.misc = func_base + offsets.nMiscOffs;
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Read link state from CCAT hardware
|
||||||
|
* @return 1 if link is up, 0 if not
|
||||||
|
*/
|
||||||
|
inline static size_t ccat_eth_priv_read_link_state(const struct ccat_eth_priv
|
||||||
|
*const priv)
|
||||||
|
{
|
||||||
|
return (1 << 24) == (ioread32(priv->reg.mii + 0x8 + 4) & (1 << 24));
|
||||||
|
}
|
||||||
|
|
||||||
|
#if LINUX_VERSION_CODE >= KERNEL_VERSION(2, 6, 35)
|
||||||
|
static struct rtnl_link_stats64 *ccat_eth_get_stats64(struct net_device *dev, struct rtnl_link_stats64
|
||||||
|
*storage)
|
||||||
|
{
|
||||||
|
struct ccat_eth_priv *const priv = netdev_priv(dev);
|
||||||
|
CCatMacRegs mac;
|
||||||
|
memcpy_fromio(&mac, priv->reg.mac, sizeof(mac));
|
||||||
|
storage->rx_packets = mac.rxFrameCnt; /* total packets received */
|
||||||
|
storage->tx_packets = mac.txFrameCnt; /* total packets transmitted */
|
||||||
|
storage->rx_bytes = atomic64_read(&priv->rx_bytes); /* total bytes received */
|
||||||
|
storage->tx_bytes = atomic64_read(&priv->tx_bytes); /* total bytes transmitted */
|
||||||
|
storage->rx_errors = mac.frameLenErrCnt + mac.dropFrameErrCnt + mac.crcErrCnt + mac.rxErrCnt; /* bad packets received */
|
||||||
|
//TODO __u64 tx_errors; /* packet transmit problems */
|
||||||
|
storage->rx_dropped = atomic64_read(&priv->rx_dropped); /* no space in linux buffers */
|
||||||
|
storage->tx_dropped = atomic64_read(&priv->tx_dropped); /* no space available in linux */
|
||||||
|
//TODO __u64 multicast; /* multicast packets received */
|
||||||
|
//TODO __u64 collisions;
|
||||||
|
|
||||||
|
/* detailed rx_errors: */
|
||||||
|
storage->rx_length_errors = mac.frameLenErrCnt;
|
||||||
|
storage->rx_over_errors = mac.dropFrameErrCnt; /* receiver ring buff overflow */
|
||||||
|
storage->rx_crc_errors = mac.crcErrCnt; /* recved pkt with crc error */
|
||||||
|
storage->rx_frame_errors = mac.rxErrCnt; /* recv'd frame alignment error */
|
||||||
|
storage->rx_fifo_errors = mac.dropFrameErrCnt; /* recv'r fifo overrun */
|
||||||
|
//TODO __u64 rx_missed_errors; /* receiver missed packet */
|
||||||
|
|
||||||
|
/* detailed tx_errors */
|
||||||
|
//TODO __u64 tx_aborted_errors;
|
||||||
|
//TODO __u64 tx_carrier_errors;
|
||||||
|
//TODO __u64 tx_fifo_errors;
|
||||||
|
//TODO __u64 tx_heartbeat_errors;
|
||||||
|
//TODO __u64 tx_window_errors;
|
||||||
|
|
||||||
|
/* for cslip etc */
|
||||||
|
//TODO __u64 rx_compressed;
|
||||||
|
//TODO __u64 tx_compressed;
|
||||||
|
return storage;
|
||||||
|
}
|
||||||
|
#endif
|
||||||
|
|
||||||
|
struct ccat_eth_priv *ccat_eth_init(const struct ccat_device *const ccatdev,
|
||||||
|
const void __iomem * const addr)
|
||||||
|
{
|
||||||
|
struct ccat_eth_priv *priv;
|
||||||
|
struct net_device *const netdev = alloc_etherdev(sizeof(*priv));
|
||||||
|
priv = netdev_priv(netdev);
|
||||||
|
priv->netdev = netdev;
|
||||||
|
priv->ccatdev = ccatdev;
|
||||||
|
|
||||||
|
/* ccat register mappings */
|
||||||
|
memcpy_fromio(&priv->info, addr, sizeof(priv->info));
|
||||||
|
ccat_eth_priv_init_mappings(priv);
|
||||||
|
ccat_print_function_info(priv);
|
||||||
|
|
||||||
|
if (ccat_eth_priv_init_dma(priv)) {
|
||||||
|
pr_warn("%s(): DMA initialization failed.\n", __FUNCTION__);
|
||||||
|
free_netdev(netdev);
|
||||||
|
return NULL;
|
||||||
|
}
|
||||||
|
|
||||||
|
/* init netdev with MAC and stack callbacks */
|
||||||
|
memcpy_fromio(netdev->dev_addr, priv->reg.mii + 8, 6);
|
||||||
|
netdev->netdev_ops = &ccat_eth_netdev_ops;
|
||||||
|
|
||||||
|
/* use as EtherCAT device? */
|
||||||
|
priv->ecdev = ecdev_offer(netdev, ec_poll, THIS_MODULE);
|
||||||
|
if (priv->ecdev) {
|
||||||
|
priv->carrier_off = ecdev_carrier_off;
|
||||||
|
priv->carrier_on = ecdev_carrier_on;
|
||||||
|
priv->kfree_skb_any = ecdev_kfree_skb_any;
|
||||||
|
priv->start_queue = ecdev_nop;
|
||||||
|
priv->stop_queue = ecdev_nop;
|
||||||
|
priv->tx_fifo_full = ecdev_tx_fifo_full;
|
||||||
|
priv->unregister = unregister_ecdev;
|
||||||
|
if (ecdev_open(priv->ecdev)) {
|
||||||
|
pr_info("unable to register network device.\n");
|
||||||
|
ecdev_withdraw(priv->ecdev);
|
||||||
|
ccat_eth_priv_free_dma(priv);
|
||||||
|
free_netdev(netdev);
|
||||||
|
return NULL;
|
||||||
|
}
|
||||||
|
return priv;
|
||||||
|
}
|
||||||
|
|
||||||
|
/* EtherCAT disabled -> prepare normal ethernet mode */
|
||||||
|
priv->carrier_off = netif_carrier_off;
|
||||||
|
priv->carrier_on = netif_carrier_on;
|
||||||
|
priv->kfree_skb_any = dev_kfree_skb_any;
|
||||||
|
priv->start_queue = netif_start_queue;
|
||||||
|
priv->stop_queue = netif_stop_queue;
|
||||||
|
priv->tx_fifo_full = ccat_eth_tx_fifo_full;
|
||||||
|
priv->unregister = unregister_netdev;
|
||||||
|
if (register_netdev(netdev)) {
|
||||||
|
pr_info("unable to register network device.\n");
|
||||||
|
ccat_eth_priv_free_dma(priv);
|
||||||
|
free_netdev(netdev);
|
||||||
|
return NULL;
|
||||||
|
}
|
||||||
|
pr_info("registered %s as network device.\n", netdev->name);
|
||||||
|
priv->rx_thread = kthread_run(run_rx_thread, netdev, "%s_rx", DRV_NAME);
|
||||||
|
priv->tx_thread = kthread_run(run_tx_thread, netdev, "%s_tx", DRV_NAME);
|
||||||
|
return priv;
|
||||||
|
}
|
||||||
|
|
||||||
|
void ccat_eth_remove(struct ccat_eth_priv *const priv)
|
||||||
|
{
|
||||||
|
if (priv->rx_thread) {
|
||||||
|
kthread_stop(priv->rx_thread);
|
||||||
|
}
|
||||||
|
if (priv->tx_thread) {
|
||||||
|
kthread_stop(priv->tx_thread);
|
||||||
|
}
|
||||||
|
priv->unregister(priv->netdev);
|
||||||
|
ccat_eth_priv_free_dma(priv);
|
||||||
|
free_netdev(priv->netdev);
|
||||||
|
pr_debug("%s(): done\n", __FUNCTION__);
|
||||||
|
}
|
||||||
|
|
||||||
|
static int ccat_eth_open(struct net_device *dev)
|
||||||
|
{
|
||||||
|
struct ccat_eth_priv *const priv = netdev_priv(dev);
|
||||||
|
priv->carrier_off(dev);
|
||||||
|
priv->poll_thread =
|
||||||
|
kthread_run(run_poll_thread, dev, "%s_poll", DRV_NAME);
|
||||||
|
|
||||||
|
//TODO
|
||||||
|
return 0;
|
||||||
|
}
|
||||||
|
|
||||||
|
static const size_t CCATRXDESC_HEADER_LEN = 20;
|
||||||
|
static void ccat_eth_receive(struct net_device *const dev,
|
||||||
|
const struct ccat_eth_frame *const frame)
|
||||||
|
{
|
||||||
|
struct ccat_eth_priv *const priv = netdev_priv(dev);
|
||||||
|
const size_t len = frame->length - CCATRXDESC_HEADER_LEN;
|
||||||
|
struct sk_buff *skb = dev_alloc_skb(len + NET_IP_ALIGN);
|
||||||
|
if (!skb) {
|
||||||
|
pr_info("%s() out of memory :-(\n", __FUNCTION__);
|
||||||
|
atomic64_inc(&priv->rx_dropped);
|
||||||
|
return;
|
||||||
|
}
|
||||||
|
skb->dev = dev;
|
||||||
|
skb_reserve(skb, NET_IP_ALIGN);
|
||||||
|
skb_copy_to_linear_data(skb, frame->data, len);
|
||||||
|
skb_put(skb, len);
|
||||||
|
skb->protocol = eth_type_trans(skb, dev);
|
||||||
|
skb->ip_summed = CHECKSUM_UNNECESSARY;
|
||||||
|
atomic64_add(len, &priv->rx_bytes);
|
||||||
|
netif_rx(skb);
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Rx handler in EtherCAT operation mode
|
||||||
|
* priv->ecdev should always be valid!
|
||||||
|
*/
|
||||||
|
static void ec_poll(struct net_device *dev)
|
||||||
|
{
|
||||||
|
static size_t next = 0;
|
||||||
|
struct ccat_eth_priv *const priv = netdev_priv(dev);
|
||||||
|
struct ccat_eth_frame *frame =
|
||||||
|
((struct ccat_eth_frame *)priv->rx_fifo.dma.virt) + next;
|
||||||
|
if (frame->received) {
|
||||||
|
ecdev_receive(priv->ecdev, frame->data,
|
||||||
|
frame->length - CCATRXDESC_HEADER_LEN);
|
||||||
|
frame->received = 0;
|
||||||
|
ccat_eth_rx_fifo_add(frame, &priv->rx_fifo);
|
||||||
|
next = (next + 1) % FIFO_LENGTH;
|
||||||
|
} else {
|
||||||
|
//TODO dev_warn(&dev->dev, "%s(): frame was not ready\n", __FUNCTION__);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
static netdev_tx_t ccat_eth_start_xmit(struct sk_buff *skb,
|
||||||
|
struct net_device *dev)
|
||||||
|
{
|
||||||
|
static size_t next = 0;
|
||||||
|
struct ccat_eth_priv *const priv = netdev_priv(dev);
|
||||||
|
struct ccat_eth_frame *const frame =
|
||||||
|
((struct ccat_eth_frame *)priv->tx_fifo.dma.virt);
|
||||||
|
uint32_t addr_and_length;
|
||||||
|
|
||||||
|
if (skb_is_nonlinear(skb)) {
|
||||||
|
pr_warn("Non linear skb not supported -> drop frame.\n");
|
||||||
|
atomic64_inc(&priv->tx_dropped);
|
||||||
|
priv->kfree_skb_any(skb);
|
||||||
|
return NETDEV_TX_OK;
|
||||||
|
}
|
||||||
|
|
||||||
|
if (skb->len > sizeof(frame->data)) {
|
||||||
|
pr_warn("skb.len %llu exceeds dma buffer %llu -> drop frame.\n",
|
||||||
|
(uint64_t) skb->len, (uint64_t) sizeof(frame->data));
|
||||||
|
atomic64_inc(&priv->tx_dropped);
|
||||||
|
priv->kfree_skb_any(skb);
|
||||||
|
return NETDEV_TX_OK;
|
||||||
|
}
|
||||||
|
|
||||||
|
if (!frame[next].sent) {
|
||||||
|
netdev_err(dev, "BUG! Tx Ring full when queue awake!\n");
|
||||||
|
ccat_eth_tx_fifo_full(dev, &frame[next]);
|
||||||
|
return NETDEV_TX_BUSY;
|
||||||
|
}
|
||||||
|
|
||||||
|
/* prepare frame in DMA memory */
|
||||||
|
frame[next].sent = 0;
|
||||||
|
frame[next].length = skb->len;
|
||||||
|
memcpy(frame[next].data, skb->data, skb->len);
|
||||||
|
|
||||||
|
priv->kfree_skb_any(skb);
|
||||||
|
|
||||||
|
addr_and_length = 8 + (next * sizeof(*frame));
|
||||||
|
addr_and_length +=
|
||||||
|
((frame[next].length + CCAT_DMA_FRAME_HEADER_LENGTH) / 8) << 24;
|
||||||
|
iowrite32(addr_and_length, priv->reg.tx_fifo); /* add to DMA fifo */
|
||||||
|
atomic64_add(frame[next].length, &priv->tx_bytes); /* update stats */
|
||||||
|
|
||||||
|
next = (next + 1) % FIFO_LENGTH;
|
||||||
|
/* stop queue if tx ring is full */
|
||||||
|
if (!frame[next].sent) {
|
||||||
|
ccat_eth_tx_fifo_full(dev, &frame[next]);
|
||||||
|
}
|
||||||
|
return NETDEV_TX_OK;
|
||||||
|
}
|
||||||
|
|
||||||
|
static int ccat_eth_stop(struct net_device *dev)
|
||||||
|
{
|
||||||
|
struct ccat_eth_priv *const priv = netdev_priv(dev);
|
||||||
|
priv->stop_queue(dev);
|
||||||
|
if (priv->poll_thread) {
|
||||||
|
/* TODO care about smp context? */
|
||||||
|
kthread_stop(priv->poll_thread);
|
||||||
|
priv->poll_thread = NULL;
|
||||||
|
}
|
||||||
|
netdev_info(dev, "stopped.\n");
|
||||||
|
return 0;
|
||||||
|
}
|
||||||
|
|
||||||
|
static void ccat_eth_link_down(struct net_device *dev)
|
||||||
|
{
|
||||||
|
struct ccat_eth_priv *const priv = netdev_priv(dev);
|
||||||
|
priv->stop_queue(dev);
|
||||||
|
priv->carrier_off(dev);
|
||||||
|
netdev_info(dev, "NIC Link is Down\n");
|
||||||
|
}
|
||||||
|
|
||||||
|
static void ccat_eth_link_up(struct net_device *const dev)
|
||||||
|
{
|
||||||
|
struct ccat_eth_priv *const priv = netdev_priv(dev);
|
||||||
|
netdev_info(dev, "NIC Link is Up\n");
|
||||||
|
/* TODO netdev_info(dev, "NIC Link is Up %u Mbps %s Duplex\n",
|
||||||
|
speed == SPEED_100 ? 100 : 10,
|
||||||
|
cmd.duplex == DUPLEX_FULL ? "Full" : "Half"); */
|
||||||
|
|
||||||
|
ccat_eth_dma_fifo_reset(&priv->rx_fifo);
|
||||||
|
ccat_eth_dma_fifo_reset(&priv->tx_fifo);
|
||||||
|
ccat_eth_xmit_raw(dev, frameForwardEthernetFrames,
|
||||||
|
sizeof(frameForwardEthernetFrames));
|
||||||
|
priv->carrier_on(dev);
|
||||||
|
priv->start_queue(dev);
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Function to transmit a raw buffer to the network (f.e. frameForwardEthernetFrames)
|
||||||
|
* @dev a valid net_device
|
||||||
|
* @data pointer to your raw buffer
|
||||||
|
* @len number of bytes in the raw buffer to transmit
|
||||||
|
*/
|
||||||
|
static void ccat_eth_xmit_raw(struct net_device *dev, const char *const data,
|
||||||
|
size_t len)
|
||||||
|
{
|
||||||
|
struct sk_buff *skb = dev_alloc_skb(len);
|
||||||
|
skb->dev = dev;
|
||||||
|
skb_copy_to_linear_data(skb, data, len);
|
||||||
|
skb_put(skb, len);
|
||||||
|
ccat_eth_start_xmit(skb, dev);
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Since CCAT doesn't support interrupts until now, we have to poll
|
||||||
|
* some status bits to recognize things like link change etc.
|
||||||
|
*/
|
||||||
|
static int run_poll_thread(void *data)
|
||||||
|
{
|
||||||
|
struct net_device *const dev = (struct net_device *)data;
|
||||||
|
struct ccat_eth_priv *const priv = netdev_priv(dev);
|
||||||
|
size_t link = 0;
|
||||||
|
|
||||||
|
while (!kthread_should_stop()) {
|
||||||
|
if (ccat_eth_priv_read_link_state(priv) != link) {
|
||||||
|
link = !link;
|
||||||
|
link ? ccat_eth_link_up(dev) : ccat_eth_link_down(dev);
|
||||||
|
}
|
||||||
|
usleep_range(POLL_DELAY_RANGE_USECS);
|
||||||
|
}
|
||||||
|
pr_debug("%s() stopped.\n", __FUNCTION__);
|
||||||
|
return 0;
|
||||||
|
}
|
||||||
|
|
||||||
|
static int run_rx_thread(void *data)
|
||||||
|
{
|
||||||
|
struct net_device *const dev = (struct net_device *)data;
|
||||||
|
struct ccat_eth_priv *const priv = netdev_priv(dev);
|
||||||
|
struct ccat_eth_frame *frame = priv->rx_fifo.dma.virt;
|
||||||
|
const struct ccat_eth_frame *const end = frame + FIFO_LENGTH;
|
||||||
|
|
||||||
|
while (!kthread_should_stop()) {
|
||||||
|
/* wait until frame was used by DMA for Rx */
|
||||||
|
while (!kthread_should_stop() && !frame->received) {
|
||||||
|
usleep_range(DMA_POLL_DELAY_RANGE_USECS);
|
||||||
|
}
|
||||||
|
|
||||||
|
/* can be NULL, if we are asked to stop! */
|
||||||
|
if (frame->received) {
|
||||||
|
ccat_eth_receive(dev, frame);
|
||||||
|
frame->received = 0;
|
||||||
|
ccat_eth_rx_fifo_add(frame, &priv->rx_fifo);
|
||||||
|
}
|
||||||
|
if (++frame >= end) {
|
||||||
|
frame = priv->rx_fifo.dma.virt;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
pr_debug("%s() stopped.\n", __FUNCTION__);
|
||||||
|
return 0;
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Polling of tx dma descriptors in ethernet operating mode
|
||||||
|
*/
|
||||||
|
static int run_tx_thread(void *data)
|
||||||
|
{
|
||||||
|
struct net_device *const dev = (struct net_device *)data;
|
||||||
|
struct ccat_eth_priv *const priv = netdev_priv(dev);
|
||||||
|
|
||||||
|
set_current_state(TASK_INTERRUPTIBLE);
|
||||||
|
while (!kthread_should_stop()) {
|
||||||
|
const struct ccat_eth_frame *const frame = priv->next_tx_frame;
|
||||||
|
if (frame) {
|
||||||
|
while (!kthread_should_stop() && !frame->sent) {
|
||||||
|
usleep_range(DMA_POLL_DELAY_RANGE_USECS);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
netif_wake_queue(dev);
|
||||||
|
schedule();
|
||||||
|
set_current_state(TASK_INTERRUPTIBLE);
|
||||||
|
}
|
||||||
|
set_current_state(TASK_RUNNING);
|
||||||
|
pr_debug("%s() stopped.\n", __FUNCTION__);
|
||||||
|
return 0;
|
||||||
|
}
|
||||||
|
|
@ -0,0 +1,26 @@
|
||||||
|
/**
|
||||||
|
Network Driver for Beckhoff CCAT communication controller
|
||||||
|
Copyright (C) 2014 Beckhoff Automation GmbH
|
||||||
|
Author: Patrick Bruenn <p.bruenn@beckhoff.com>
|
||||||
|
|
||||||
|
This program 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; either version 2 of the License, or
|
||||||
|
(at your option) any later version.
|
||||||
|
|
||||||
|
This program 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 this program; if not, write to the Free Software Foundation, Inc.,
|
||||||
|
51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.
|
||||||
|
*/
|
||||||
|
|
||||||
|
#ifndef _NETDEV_H_
|
||||||
|
#define _NETDEV_H_
|
||||||
|
extern struct ccat_eth_priv *ccat_eth_init(const struct ccat_device *ccatdev,
|
||||||
|
const void __iomem * addr);
|
||||||
|
extern void ccat_eth_remove(struct ccat_eth_priv *priv);
|
||||||
|
#endif /* #ifndef _NETDEV_H_ */
|
||||||
|
|
@ -0,0 +1,180 @@
|
||||||
|
/**
|
||||||
|
Network Driver for Beckhoff CCAT communication controller
|
||||||
|
Copyright (C) 2014 Beckhoff Automation GmbH
|
||||||
|
Author: Patrick Bruenn <p.bruenn@beckhoff.com>
|
||||||
|
|
||||||
|
This program 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; either version 2 of the License, or
|
||||||
|
(at your option) any later version.
|
||||||
|
|
||||||
|
This program 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 this program; if not, write to the Free Software Foundation, Inc.,
|
||||||
|
51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.
|
||||||
|
*/
|
||||||
|
|
||||||
|
#include <linux/kernel.h>
|
||||||
|
#include "CCatDefinitions.h"
|
||||||
|
#include "module.h"
|
||||||
|
#include "print.h"
|
||||||
|
|
||||||
|
#define TESTING_ENABLED 1
|
||||||
|
void print_mem(const unsigned char *p, size_t lines)
|
||||||
|
{
|
||||||
|
#if TESTING_ENABLED
|
||||||
|
pr_info("mem at: %p\n", p);
|
||||||
|
pr_info(" 0 1 2 3 4 5 6 7 8 9 A B C D E F\n");
|
||||||
|
while (lines > 0) {
|
||||||
|
pr_info
|
||||||
|
("%02x %02x %02x %02x %02x %02x %02x %02x %02x %02x %02x %02x %02x %02x %02x %02x\n",
|
||||||
|
p[0], p[1], p[2], p[3], p[4], p[5], p[6], p[7], p[8], p[9],
|
||||||
|
p[10], p[11], p[12], p[13], p[14], p[15]);
|
||||||
|
p += 16;
|
||||||
|
--lines;
|
||||||
|
}
|
||||||
|
#endif /* #if TESTING_ENABLED */
|
||||||
|
}
|
||||||
|
|
||||||
|
static const char *CCatFunctionTypes[CCATINFO_MAX + 1] = {
|
||||||
|
"not used",
|
||||||
|
"Informationblock",
|
||||||
|
"EtherCAT Slave",
|
||||||
|
"EtherCAT Master without DMA",
|
||||||
|
"Ethernet MAC without DMA",
|
||||||
|
"Ethernet Switch",
|
||||||
|
"Sercos III",
|
||||||
|
"Profibus",
|
||||||
|
"CAN Controller",
|
||||||
|
"KBUS Master",
|
||||||
|
"IP-Link Master (planned)",
|
||||||
|
"SPI Master",
|
||||||
|
"I²C",
|
||||||
|
"GPIO",
|
||||||
|
"Drive",
|
||||||
|
"CCAT Update",
|
||||||
|
"Systemtime",
|
||||||
|
"Interrupt Controller",
|
||||||
|
"EEPROM Controller",
|
||||||
|
"DMA Controller",
|
||||||
|
"EtherCAT Master with DMA",
|
||||||
|
"Ethernet MAC with DMA",
|
||||||
|
"SRAM Interface",
|
||||||
|
"Internal Copy block",
|
||||||
|
"unknown"
|
||||||
|
};
|
||||||
|
|
||||||
|
static void print_CCatDmaRxActBuf(const struct ccat_eth_priv *const priv)
|
||||||
|
{
|
||||||
|
CCatDmaRxActBuf rx_fifo;
|
||||||
|
memcpy_fromio(&rx_fifo, priv->reg.rx_fifo, sizeof(rx_fifo));
|
||||||
|
pr_debug("Rx FIFO base address: %p\n", priv->reg.rx_fifo);
|
||||||
|
pr_debug(" Rx Frame Header start: 0x%08x\n", rx_fifo.startAddr);
|
||||||
|
pr_debug(" reserved: 0x%08x\n", rx_fifo.reserved1);
|
||||||
|
pr_debug(" Rx start address valid: %8u\n", rx_fifo.nextValid);
|
||||||
|
pr_debug(" reserved: 0x%08x\n", rx_fifo.reserved2);
|
||||||
|
pr_debug(" FIFO level: 0x%08x\n", rx_fifo.FifoLevel);
|
||||||
|
pr_debug(" Buffer level: 0x%08x\n", rx_fifo.bufferLevel);
|
||||||
|
pr_debug(" next address: 0x%08x\n", rx_fifo.nextAddr);
|
||||||
|
}
|
||||||
|
|
||||||
|
static void print_CCatDmaTxFifo(const struct ccat_eth_priv *const priv)
|
||||||
|
{
|
||||||
|
CCatDmaTxFifo tx_fifo;
|
||||||
|
memcpy_fromio(&tx_fifo, priv->reg.tx_fifo, sizeof(tx_fifo));
|
||||||
|
pr_debug("Tx FIFO base address: %p\n", priv->reg.tx_fifo);
|
||||||
|
pr_debug(" Tx Frame Header start: 0x%08x\n", tx_fifo.startAddr);
|
||||||
|
pr_debug(" # 64 bit words: %10d\n", tx_fifo.numQuadWords);
|
||||||
|
pr_debug(" reserved: 0x%08x\n", tx_fifo.reserved1);
|
||||||
|
pr_debug(" FIFO reset: 0x%08x\n", tx_fifo.fifoReset);
|
||||||
|
}
|
||||||
|
|
||||||
|
static void print_CCatInfoBlock(const CCatInfoBlock * info,
|
||||||
|
const void __iomem * const base_addr)
|
||||||
|
{
|
||||||
|
const size_t index = min((int)info->eCCatInfoType, CCATINFO_MAX);
|
||||||
|
pr_debug("%s\n", CCatFunctionTypes[index]);
|
||||||
|
pr_debug(" revision: 0x%x\n", info->nRevision);
|
||||||
|
pr_debug(" RX channel: %d\n", info->rxDmaChn);
|
||||||
|
pr_debug(" TX channel: %d\n", info->txDmaChn);
|
||||||
|
pr_debug(" baseaddr: 0x%x\n", info->nAddr);
|
||||||
|
pr_debug(" size: 0x%x\n", info->nSize);
|
||||||
|
pr_debug(" subfunction: %p\n", base_addr);
|
||||||
|
}
|
||||||
|
|
||||||
|
static void print_CCatMacRegs(const struct ccat_eth_priv *const priv)
|
||||||
|
{
|
||||||
|
CCatMacRegs mac;
|
||||||
|
memcpy_fromio(&mac, priv->reg.mac, sizeof(mac));
|
||||||
|
pr_debug("MAC base address: %p\n", priv->reg.mac);
|
||||||
|
pr_debug(" frame length error count: %10d\n", mac.frameLenErrCnt);
|
||||||
|
pr_debug(" RX error count: %10d\n", mac.rxErrCnt);
|
||||||
|
pr_debug(" CRC error count: %10d\n", mac.crcErrCnt);
|
||||||
|
pr_debug(" Link lost error count: %10d\n", mac.linkLostErrCnt);
|
||||||
|
pr_debug(" reserved: 0x%08x\n", mac.reserved1);
|
||||||
|
pr_debug(" RX overflow count: %10d\n",
|
||||||
|
mac.dropFrameErrCnt);
|
||||||
|
pr_debug(" DMA overflow count: %10d\n", mac.reserved2[0]);
|
||||||
|
//pr_debug(" reserverd: %10d\n", DRV_NAME, mac.reserved2[1]);
|
||||||
|
pr_debug(" TX frame counter: %10d\n", mac.txFrameCnt);
|
||||||
|
pr_debug(" RX frame counter: %10d\n", mac.rxFrameCnt);
|
||||||
|
pr_debug(" TX-FIFO level: 0x%08x\n", mac.txFifoLevel);
|
||||||
|
pr_debug(" MII connection: 0x%08x\n", mac.miiConnected);
|
||||||
|
}
|
||||||
|
|
||||||
|
static void print_CCatMii(const struct ccat_eth_priv *const priv)
|
||||||
|
{
|
||||||
|
CCatMii mii;
|
||||||
|
memcpy_fromio(&mii, priv->reg.mii, sizeof(mii));
|
||||||
|
pr_debug("MII base address: %p\n", priv->reg.mii);
|
||||||
|
pr_debug(" MII cycle: %s\n",
|
||||||
|
mii.startMiCycle ? "running" : "no cycle");
|
||||||
|
pr_debug(" reserved: 0x%x\n", mii.reserved1);
|
||||||
|
pr_debug(" cmd valid: %s\n", mii.cmdErr ? "no" : "yes");
|
||||||
|
pr_debug(" cmd: 0x%x\n", mii.cmd);
|
||||||
|
pr_debug(" reserved: 0x%x\n", mii.reserved2);
|
||||||
|
pr_debug(" PHY addr: 0x%x\n", mii.phyAddr);
|
||||||
|
pr_debug(" reserved: 0x%x\n", mii.reserved3);
|
||||||
|
pr_debug(" PHY reg: 0x%x\n", mii.phyReg);
|
||||||
|
pr_debug(" reserved: 0x%x\n", mii.reserved4);
|
||||||
|
pr_debug(" PHY write: 0x%x\n", mii.phyWriteData);
|
||||||
|
pr_debug(" PHY read: 0x%x\n", mii.phyReadData);
|
||||||
|
pr_debug(" MAC addr: %02x:%02x:%02x:%02x:%02x:%02x\n",
|
||||||
|
mii.macAddr.b[0], mii.macAddr.b[1], mii.macAddr.b[2],
|
||||||
|
mii.macAddr.b[3], mii.macAddr.b[4], mii.macAddr.b[5]);
|
||||||
|
pr_debug(" MAC filter enable: %s\n",
|
||||||
|
mii.macFilterEnabled ? "enabled" : "disabled");
|
||||||
|
pr_debug(" reserved: 0x%x\n", mii.reserved6);
|
||||||
|
pr_debug(" Link State: %s\n",
|
||||||
|
mii.linkStatus ? "link" : "no link");
|
||||||
|
pr_debug(" reserved: 0x%x\n", mii.reserved7);
|
||||||
|
//pr_debug(" reserved: 0x%x\n", DRV_NAME, mii.reserved8);
|
||||||
|
//TODO add leds, systemtime insertion and interrupts
|
||||||
|
}
|
||||||
|
|
||||||
|
void ccat_print_function_info(struct ccat_eth_priv *priv)
|
||||||
|
{
|
||||||
|
print_CCatInfoBlock(&priv->info, priv->ccatdev->bar[0].ioaddr);
|
||||||
|
print_CCatMii(priv);
|
||||||
|
print_CCatDmaTxFifo(priv);
|
||||||
|
print_CCatDmaRxActBuf(priv);
|
||||||
|
print_CCatMacRegs(priv);
|
||||||
|
pr_debug(" RX window: %p\n", priv->reg.rx_mem);
|
||||||
|
pr_debug(" TX memory: %p\n", priv->reg.tx_mem);
|
||||||
|
pr_debug(" misc: %p\n", priv->reg.misc);
|
||||||
|
}
|
||||||
|
|
||||||
|
void print_update_info(const CCatInfoBlock * const info,
|
||||||
|
void __iomem * const ioaddr)
|
||||||
|
{
|
||||||
|
const size_t index = min((int)info->eCCatInfoType, CCATINFO_MAX);
|
||||||
|
pr_debug("%s\n", CCatFunctionTypes[index]);
|
||||||
|
pr_debug(" revision: 0x%x\n", info->nRevision);
|
||||||
|
pr_debug(" baseaddr: 0x%x\n", info->nAddr);
|
||||||
|
pr_debug(" size: 0x%x\n", info->nSize);
|
||||||
|
pr_debug(" PROM ID is: 0x%x\n", ccat_get_prom_id(ioaddr));
|
||||||
|
}
|
||||||
|
|
@ -0,0 +1,30 @@
|
||||||
|
/**
|
||||||
|
Network Driver for Beckhoff CCAT communication controller
|
||||||
|
Copyright (C) 2014 Beckhoff Automation GmbH
|
||||||
|
Author: Patrick Bruenn <p.bruenn@beckhoff.com>
|
||||||
|
|
||||||
|
This program 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; either version 2 of the License, or
|
||||||
|
(at your option) any later version.
|
||||||
|
|
||||||
|
This program 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 this program; if not, write to the Free Software Foundation, Inc.,
|
||||||
|
51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.
|
||||||
|
*/
|
||||||
|
|
||||||
|
#ifndef _PRINT_H_
|
||||||
|
#define _PRINT_H_
|
||||||
|
|
||||||
|
#include "update.h"
|
||||||
|
|
||||||
|
extern void ccat_print_function_info(struct ccat_eth_priv *priv);
|
||||||
|
extern void print_mem(const unsigned char *p, size_t lines);
|
||||||
|
extern void print_update_info(const CCatInfoBlock * const info,
|
||||||
|
void __iomem * const ioaddr);
|
||||||
|
#endif /* #ifndef _PRINT_H_ */
|
||||||
|
|
@ -0,0 +1,458 @@
|
||||||
|
/**
|
||||||
|
Network Driver for Beckhoff CCAT communication controller
|
||||||
|
Copyright (C) 2014 Beckhoff Automation GmbH
|
||||||
|
Author: Patrick Bruenn <p.bruenn@beckhoff.com>
|
||||||
|
|
||||||
|
This program 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; either version 2 of the License, or
|
||||||
|
(at your option) any later version.
|
||||||
|
|
||||||
|
This program 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 this program; if not, write to the Free Software Foundation, Inc.,
|
||||||
|
51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.
|
||||||
|
*/
|
||||||
|
|
||||||
|
#include <linux/fs.h>
|
||||||
|
#include <linux/kernel.h>
|
||||||
|
#include <linux/module.h>
|
||||||
|
#include <linux/sched.h>
|
||||||
|
#include <linux/uaccess.h>
|
||||||
|
#include "compat.h"
|
||||||
|
#include "module.h"
|
||||||
|
#include "print.h"
|
||||||
|
#include "update.h"
|
||||||
|
|
||||||
|
#define CCAT_DATA_IN_4 0x038
|
||||||
|
#define CCAT_DATA_IN_N 0x7F0
|
||||||
|
#define CCAT_DATA_OUT_4 0x030
|
||||||
|
#define CCAT_DATA_BLOCK_SIZE (size_t)((CCAT_DATA_IN_N - CCAT_DATA_IN_4)/8)
|
||||||
|
#define CCAT_WRITE_BLOCK_SIZE 128
|
||||||
|
#define CCAT_FLASH_SIZE (size_t)0xE0000
|
||||||
|
|
||||||
|
/** FUNCTION_NAME CMD, CLOCKS */
|
||||||
|
#define CCAT_BULK_ERASE 0xE3, 8
|
||||||
|
#define CCAT_GET_PROM_ID 0xD5, 40
|
||||||
|
#define CCAT_READ_FLASH 0xC0, 32
|
||||||
|
#define CCAT_READ_STATUS 0xA0, 16
|
||||||
|
#define CCAT_WRITE_ENABLE 0x60, 8
|
||||||
|
#define CCAT_WRITE_FLASH 0x40, 32
|
||||||
|
|
||||||
|
/* from http://graphics.stanford.edu/~seander/bithacks.html#ReverseByteWith32Bits */
|
||||||
|
#define SWAP_BITS(B) \
|
||||||
|
((((B) * 0x0802LU & 0x22110LU) | ((B) * 0x8020LU & 0x88440LU)) * 0x10101LU >> 16)
|
||||||
|
|
||||||
|
/**
|
||||||
|
* struct update_buffer - keep track of a CCAT FPGA update
|
||||||
|
* @update: pointer to a valid ccat_update object
|
||||||
|
* @data: buffer used for write operations
|
||||||
|
* @size: number of bytes written to the data buffer, if 0 on ccat_update_release() no data will be written to FPGA
|
||||||
|
*/
|
||||||
|
struct update_buffer {
|
||||||
|
struct ccat_update *update;
|
||||||
|
char data[CCAT_FLASH_SIZE];
|
||||||
|
size_t size;
|
||||||
|
};
|
||||||
|
|
||||||
|
static void ccat_wait_status_cleared(void __iomem * const ioaddr);
|
||||||
|
static int ccat_read_flash(void __iomem * const ioaddr, char __user * buf,
|
||||||
|
uint32_t len, loff_t * off);
|
||||||
|
static void ccat_write_flash(const struct update_buffer *const buf);
|
||||||
|
static void ccat_update_cmd(void __iomem * const ioaddr, uint8_t cmd,
|
||||||
|
uint16_t clocks);
|
||||||
|
static void ccat_update_destroy(struct kref *ref);
|
||||||
|
|
||||||
|
/**
|
||||||
|
* wait_until_busy_reset() - wait until the busy flag was reset
|
||||||
|
* @ioaddr: address of the CCAT Update function in PCI config space
|
||||||
|
*/
|
||||||
|
static inline void wait_until_busy_reset(void __iomem * const ioaddr)
|
||||||
|
{
|
||||||
|
wmb();
|
||||||
|
while (ioread8(ioaddr + 1)) {
|
||||||
|
schedule();
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
static int ccat_update_open(struct inode *const i, struct file *const f)
|
||||||
|
{
|
||||||
|
struct ccat_update *update =
|
||||||
|
container_of(i->i_cdev, struct ccat_update, cdev);
|
||||||
|
struct update_buffer *buf;
|
||||||
|
kref_get(&update->refcount);
|
||||||
|
if (atomic_read(&update->refcount.refcount) > 2) {
|
||||||
|
kref_put(&update->refcount, ccat_update_destroy);
|
||||||
|
return -EBUSY;
|
||||||
|
}
|
||||||
|
|
||||||
|
buf = kzalloc(sizeof(*buf), GFP_KERNEL);
|
||||||
|
if (!buf) {
|
||||||
|
kref_put(&update->refcount, ccat_update_destroy);
|
||||||
|
return -ENOMEM;
|
||||||
|
}
|
||||||
|
|
||||||
|
buf->update = update;
|
||||||
|
f->private_data = buf;
|
||||||
|
return 0;
|
||||||
|
}
|
||||||
|
|
||||||
|
static int ccat_update_release(struct inode *const i, struct file *const f)
|
||||||
|
{
|
||||||
|
const struct update_buffer *const buf = f->private_data;
|
||||||
|
struct ccat_update *const update = buf->update;
|
||||||
|
if (buf->size > 0) {
|
||||||
|
ccat_update_cmd(update->ioaddr, CCAT_WRITE_ENABLE);
|
||||||
|
ccat_update_cmd(update->ioaddr, CCAT_BULK_ERASE);
|
||||||
|
ccat_wait_status_cleared(update->ioaddr);
|
||||||
|
ccat_write_flash(buf);
|
||||||
|
}
|
||||||
|
kfree(f->private_data);
|
||||||
|
kref_put(&update->refcount, ccat_update_destroy);
|
||||||
|
return 0;
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* ccat_update_read() - Read CCAT configuration data from flash
|
||||||
|
* @f: file handle previously initialized with ccat_update_open()
|
||||||
|
* @buf: buffer in user space provided for our data
|
||||||
|
* @len: length of the user space buffer
|
||||||
|
* @off: current offset of our file operation
|
||||||
|
*
|
||||||
|
* Copies data from the CCAT FPGA's configuration flash to user space.
|
||||||
|
* Note that the size of the FPGA's firmware is not known exactly so it
|
||||||
|
* is very possible that the overall buffer ends with a lot of 0xff.
|
||||||
|
*
|
||||||
|
* Return: the number of bytes written, or 0 if EOF reached
|
||||||
|
*/
|
||||||
|
static ssize_t ccat_update_read(struct file *const f, char __user * buf,
|
||||||
|
size_t len, loff_t * off)
|
||||||
|
{
|
||||||
|
struct update_buffer *update = f->private_data;
|
||||||
|
if (!buf || !off) {
|
||||||
|
return -EINVAL;
|
||||||
|
}
|
||||||
|
if (*off >= CCAT_FLASH_SIZE) {
|
||||||
|
return 0;
|
||||||
|
}
|
||||||
|
if (*off + len >= CCAT_FLASH_SIZE) {
|
||||||
|
len = CCAT_FLASH_SIZE - *off;
|
||||||
|
}
|
||||||
|
return ccat_read_flash(update->update->ioaddr, buf, len, off);
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* ccat_update_write() - Write data to the CCAT FPGA's configuration flash
|
||||||
|
* @f: file handle previously initialized with ccat_update_open()
|
||||||
|
* @buf: buffer in user space providing the new configuration data (from *.rbf)
|
||||||
|
* @len: length of the user space buffer
|
||||||
|
* @off: current offset in the configuration data
|
||||||
|
*
|
||||||
|
* Copies data from user space (possibly a *.rbf) to the CCAT FPGA's
|
||||||
|
* configuration flash to user space.
|
||||||
|
*
|
||||||
|
* Return: the number of bytes written, or 0 if flash end is reached
|
||||||
|
*/
|
||||||
|
|
||||||
|
static ssize_t ccat_update_write(struct file *const f, const char __user * buf,
|
||||||
|
size_t len, loff_t * off)
|
||||||
|
{
|
||||||
|
struct update_buffer *const update = f->private_data;
|
||||||
|
if (*off + len > sizeof(update->data))
|
||||||
|
return 0;
|
||||||
|
|
||||||
|
copy_from_user(update->data + *off, buf, len);
|
||||||
|
*off += len;
|
||||||
|
update->size = *off;
|
||||||
|
return len;
|
||||||
|
}
|
||||||
|
|
||||||
|
static struct file_operations update_ops = {
|
||||||
|
.owner = THIS_MODULE,
|
||||||
|
.open = ccat_update_open,
|
||||||
|
.release = ccat_update_release,
|
||||||
|
.read = ccat_update_read,
|
||||||
|
.write = ccat_update_write,
|
||||||
|
};
|
||||||
|
|
||||||
|
/**
|
||||||
|
* __ccat_update_cmd() - Helper to issue a FPGA flash command
|
||||||
|
* @ioaddr: address of the CCAT Update function in PCI config space
|
||||||
|
* @cmd: the command identifier
|
||||||
|
* @clocks: the number of clocks associated with the specified command
|
||||||
|
*
|
||||||
|
* no write memory barrier is called and the busy flag is not evaluated
|
||||||
|
*/
|
||||||
|
static inline void __ccat_update_cmd(void __iomem * const ioaddr, uint8_t cmd,
|
||||||
|
uint16_t clocks)
|
||||||
|
{
|
||||||
|
iowrite8((0xff00 & clocks) >> 8, ioaddr);
|
||||||
|
iowrite8(0x00ff & clocks, ioaddr + 0x8);
|
||||||
|
iowrite8(cmd, ioaddr + 0x10);
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* ccat_update_cmd() - Helper to issue a FPGA flash command
|
||||||
|
* @ioaddr: address of the CCAT Update function in PCI config space
|
||||||
|
* @cmd: the command identifier
|
||||||
|
* @clocks: the number of clocks associated with the specified command
|
||||||
|
*
|
||||||
|
* Triggers a full flash command cycle with write memory barrier and
|
||||||
|
* command activate. This call blocks until the busy flag is reset.
|
||||||
|
*/
|
||||||
|
static inline void ccat_update_cmd(void __iomem * const ioaddr, uint8_t cmd,
|
||||||
|
uint16_t clocks)
|
||||||
|
{
|
||||||
|
__ccat_update_cmd(ioaddr, cmd, clocks);
|
||||||
|
wmb();
|
||||||
|
iowrite8(0xff, ioaddr + 0x7f8);
|
||||||
|
wait_until_busy_reset(ioaddr);
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* ccat_update_cmd_addr() - Helper to issue a FPGA flash command with address parameter
|
||||||
|
* @ioaddr: address of the CCAT Update function in PCI config space
|
||||||
|
* @cmd: the command identifier
|
||||||
|
* @clocks: the number of clocks associated with the specified command
|
||||||
|
* @addr: 24 bit address associated with the specified command
|
||||||
|
*
|
||||||
|
* Triggers a full flash command cycle with write memory barrier and
|
||||||
|
* command activate. This call blocks until the busy flag is reset.
|
||||||
|
*/
|
||||||
|
static inline void ccat_update_cmd_addr(void __iomem * const ioaddr,
|
||||||
|
uint8_t cmd, uint16_t clocks,
|
||||||
|
uint32_t addr)
|
||||||
|
{
|
||||||
|
const uint8_t addr_0 = SWAP_BITS(addr & 0xff);
|
||||||
|
const uint8_t addr_1 = SWAP_BITS((addr & 0xff00) >> 8);
|
||||||
|
const uint8_t addr_2 = SWAP_BITS((addr & 0xff0000) >> 16);
|
||||||
|
__ccat_update_cmd(ioaddr, cmd, clocks);
|
||||||
|
iowrite8(addr_2, ioaddr + 0x18);
|
||||||
|
iowrite8(addr_1, ioaddr + 0x20);
|
||||||
|
iowrite8(addr_0, ioaddr + 0x28);
|
||||||
|
wmb();
|
||||||
|
iowrite8(0xff, ioaddr + 0x7f8);
|
||||||
|
wait_until_busy_reset(ioaddr);
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* ccat_get_prom_id() - Read CCAT PROM ID
|
||||||
|
* @ioaddr: address of the CCAT Update function in PCI config space
|
||||||
|
*
|
||||||
|
* Return: the CCAT FPGA's PROM identifier
|
||||||
|
*/
|
||||||
|
uint8_t ccat_get_prom_id(void __iomem * const ioaddr)
|
||||||
|
{
|
||||||
|
ccat_update_cmd(ioaddr, CCAT_GET_PROM_ID);
|
||||||
|
return ioread8(ioaddr + 0x38);
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* ccat_get_status() - Read CCAT Update status
|
||||||
|
* @ioaddr: address of the CCAT Update function in PCI config space
|
||||||
|
*
|
||||||
|
* Return: the current status of the CCAT Update function
|
||||||
|
*/
|
||||||
|
static uint8_t ccat_get_status(void __iomem * const ioaddr)
|
||||||
|
{
|
||||||
|
ccat_update_cmd(ioaddr, CCAT_READ_STATUS);
|
||||||
|
return ioread8(ioaddr + 0x20);
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* ccat_wait_status_cleared() - wait until CCAT status is cleared
|
||||||
|
* @ioaddr: address of the CCAT Update function in PCI config space
|
||||||
|
*
|
||||||
|
* Blocks until bit 7 of the CCAT Update status is reset
|
||||||
|
*/
|
||||||
|
|
||||||
|
static void ccat_wait_status_cleared(void __iomem * const ioaddr)
|
||||||
|
{
|
||||||
|
uint8_t status;
|
||||||
|
do {
|
||||||
|
status = ccat_get_status(ioaddr);
|
||||||
|
} while (status & (1 << 7));
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* ccat_read_flash_block() - Read a block of CCAT configuration data from flash
|
||||||
|
* @ioaddr: address of the CCAT Update function in PCI config space
|
||||||
|
* @addr: 24 bit address of the block to read
|
||||||
|
* @len: number of bytes to read from this block, len <= CCAT_DATA_BLOCK_SIZE
|
||||||
|
* @buf: output buffer in user space
|
||||||
|
*
|
||||||
|
* Copies one block of configuration data from the CCAT FPGA's flash to
|
||||||
|
* the user space buffer.
|
||||||
|
* Note that the size of the FPGA's firmware is not known exactly so it
|
||||||
|
* is very possible that the overall buffer ends with a lot of 0xff.
|
||||||
|
*
|
||||||
|
* Return: the number of bytes copied
|
||||||
|
*/
|
||||||
|
static int ccat_read_flash_block(void __iomem * const ioaddr,
|
||||||
|
const uint32_t addr, const uint16_t len,
|
||||||
|
char __user * const buf)
|
||||||
|
{
|
||||||
|
uint16_t i;
|
||||||
|
const uint16_t clocks = 8 * len;
|
||||||
|
ccat_update_cmd_addr(ioaddr, CCAT_READ_FLASH + clocks, addr);
|
||||||
|
for (i = 0; i < len; i++) {
|
||||||
|
put_user(ioread8(ioaddr + CCAT_DATA_IN_4 + 8 * i), buf + i);
|
||||||
|
}
|
||||||
|
return len;
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* ccat_read_flash() - Read a chunk of CCAT configuration data from flash
|
||||||
|
* @ioaddr: address of the CCAT Update function in PCI config space
|
||||||
|
* @buf: output buffer in user space
|
||||||
|
* @len: number of bytes to read
|
||||||
|
* @off: offset in the configuration data
|
||||||
|
*
|
||||||
|
* Copies multiple blocks of configuration data from the CCAT FPGA's
|
||||||
|
* flash to the user space buffer.
|
||||||
|
*
|
||||||
|
* Return: the number of bytes copied
|
||||||
|
*/
|
||||||
|
static int ccat_read_flash(void __iomem * const ioaddr, char __user * buf,
|
||||||
|
uint32_t len, loff_t * off)
|
||||||
|
{
|
||||||
|
const loff_t start = *off;
|
||||||
|
while (len > CCAT_DATA_BLOCK_SIZE) {
|
||||||
|
*off +=
|
||||||
|
ccat_read_flash_block(ioaddr, *off, CCAT_DATA_BLOCK_SIZE,
|
||||||
|
buf);
|
||||||
|
buf += CCAT_DATA_BLOCK_SIZE;
|
||||||
|
len -= CCAT_DATA_BLOCK_SIZE;
|
||||||
|
}
|
||||||
|
*off += ccat_read_flash_block(ioaddr, *off, len, buf);
|
||||||
|
return *off - start;
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* ccat_write_flash_block() - Write a block of CCAT configuration data to flash
|
||||||
|
* @ioaddr: address of the CCAT Update function in PCI config space
|
||||||
|
* @addr: 24 bit start address in the CCAT FPGA's flash
|
||||||
|
* @len: number of bytes to write in this block, len <= CCAT_WRITE_BLOCK_SIZE
|
||||||
|
* @buf: input buffer
|
||||||
|
*
|
||||||
|
* Copies one block of configuration data to the CCAT FPGA's flash
|
||||||
|
*
|
||||||
|
* Return: the number of bytes copied
|
||||||
|
*/
|
||||||
|
static int ccat_write_flash_block(void __iomem * const ioaddr,
|
||||||
|
const uint32_t addr, const uint16_t len,
|
||||||
|
const char *const buf)
|
||||||
|
{
|
||||||
|
const uint16_t clocks = 8 * len;
|
||||||
|
uint16_t i;
|
||||||
|
ccat_update_cmd(ioaddr, CCAT_WRITE_ENABLE);
|
||||||
|
for (i = 0; i < len; i++) {
|
||||||
|
iowrite8(buf[i], ioaddr + CCAT_DATA_OUT_4 + 8 * i);
|
||||||
|
}
|
||||||
|
ccat_update_cmd_addr(ioaddr, CCAT_WRITE_FLASH + clocks, addr);
|
||||||
|
ccat_wait_status_cleared(ioaddr);
|
||||||
|
return len;
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* ccat_write_flash() - Write a new CCAT configuration to FPGA's flash
|
||||||
|
* @update: a CCAT Update buffer containing the new FPGA configuration
|
||||||
|
*/
|
||||||
|
static void ccat_write_flash(const struct update_buffer *const update)
|
||||||
|
{
|
||||||
|
const char *buf = update->data;
|
||||||
|
uint32_t off = 0;
|
||||||
|
size_t len = update->size;
|
||||||
|
while (len > CCAT_WRITE_BLOCK_SIZE) {
|
||||||
|
ccat_write_flash_block(update->update->ioaddr, off,
|
||||||
|
(uint16_t) CCAT_WRITE_BLOCK_SIZE, buf);
|
||||||
|
off += CCAT_WRITE_BLOCK_SIZE;
|
||||||
|
buf += CCAT_WRITE_BLOCK_SIZE;
|
||||||
|
len -= CCAT_WRITE_BLOCK_SIZE;
|
||||||
|
}
|
||||||
|
ccat_write_flash_block(update->update->ioaddr, off, (uint16_t) len,
|
||||||
|
buf);
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* ccat_update_init() - Initialize the CCAT Update function
|
||||||
|
*/
|
||||||
|
struct ccat_update *ccat_update_init(const struct ccat_device *const ccatdev,
|
||||||
|
void __iomem * const addr)
|
||||||
|
{
|
||||||
|
struct ccat_update *const update = kzalloc(sizeof(*update), GFP_KERNEL);
|
||||||
|
if (!update) {
|
||||||
|
return NULL;
|
||||||
|
}
|
||||||
|
kref_init(&update->refcount);
|
||||||
|
update->ioaddr = ccatdev->bar[0].ioaddr + ioread32(addr + 0x8);
|
||||||
|
memcpy_fromio(&update->info, addr, sizeof(update->info));
|
||||||
|
print_update_info(&update->info, update->ioaddr);
|
||||||
|
|
||||||
|
if (0x00 != update->info.nRevision) {
|
||||||
|
pr_warn("CCAT Update rev. %d not supported\n",
|
||||||
|
update->info.nRevision);
|
||||||
|
goto cleanup;
|
||||||
|
}
|
||||||
|
|
||||||
|
if (alloc_chrdev_region(&update->dev, 0, 1, DRV_NAME)) {
|
||||||
|
pr_warn("alloc_chrdev_region() failed\n");
|
||||||
|
goto cleanup;
|
||||||
|
}
|
||||||
|
|
||||||
|
update->class = class_create(THIS_MODULE, "ccat_update");
|
||||||
|
if (NULL == update->class) {
|
||||||
|
pr_warn("Create device class failed\n");
|
||||||
|
goto cleanup;
|
||||||
|
}
|
||||||
|
|
||||||
|
if (NULL ==
|
||||||
|
device_create(update->class, NULL, update->dev, NULL,
|
||||||
|
"ccat_update")) {
|
||||||
|
pr_warn("device_create() failed\n");
|
||||||
|
goto cleanup;
|
||||||
|
}
|
||||||
|
|
||||||
|
cdev_init(&update->cdev, &update_ops);
|
||||||
|
update->cdev.owner = THIS_MODULE;
|
||||||
|
update->cdev.ops = &update_ops;
|
||||||
|
if (cdev_add(&update->cdev, update->dev, 1)) {
|
||||||
|
pr_warn("add update device failed\n");
|
||||||
|
goto cleanup;
|
||||||
|
}
|
||||||
|
return update;
|
||||||
|
cleanup:
|
||||||
|
kref_put(&update->refcount, ccat_update_destroy);
|
||||||
|
return NULL;
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* ccat_update_destroy() - Cleanup the CCAT Update function
|
||||||
|
* @ref: pointer to a struct kref embedded into a struct ccat_update, which we intend to destroy
|
||||||
|
*
|
||||||
|
* Retrieves the parent struct ccat_update and destroys it.
|
||||||
|
*/
|
||||||
|
static void ccat_update_destroy(struct kref *ref)
|
||||||
|
{
|
||||||
|
struct ccat_update *update =
|
||||||
|
container_of(ref, struct ccat_update, refcount);
|
||||||
|
cdev_del(&update->cdev);
|
||||||
|
device_destroy(update->class, update->dev);
|
||||||
|
class_destroy(update->class);
|
||||||
|
unregister_chrdev_region(update->dev, 1);
|
||||||
|
kfree(update);
|
||||||
|
pr_debug("%s(): done\n", __FUNCTION__);
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* ccat_update_remove() - Prepare the CCAT Update function for removal
|
||||||
|
*/
|
||||||
|
void ccat_update_remove(struct ccat_update *update)
|
||||||
|
{
|
||||||
|
kref_put(&update->refcount, ccat_update_destroy);
|
||||||
|
pr_debug("%s(): done\n", __FUNCTION__);
|
||||||
|
}
|
||||||
|
|
@ -0,0 +1,27 @@
|
||||||
|
/**
|
||||||
|
Network Driver for Beckhoff CCAT communication controller
|
||||||
|
Copyright (C) 2014 Beckhoff Automation GmbH
|
||||||
|
Author: Patrick Bruenn <p.bruenn@beckhoff.com>
|
||||||
|
|
||||||
|
This program 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; either version 2 of the License, or
|
||||||
|
(at your option) any later version.
|
||||||
|
|
||||||
|
This program 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 this program; if not, write to the Free Software Foundation, Inc.,
|
||||||
|
51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.
|
||||||
|
*/
|
||||||
|
|
||||||
|
#ifndef _UPDATE_H_
|
||||||
|
#define _UPDATE_H_
|
||||||
|
extern uint8_t ccat_get_prom_id(void __iomem * const ioaddr);
|
||||||
|
extern struct ccat_update *ccat_update_init(const struct ccat_device *ccatdev,
|
||||||
|
void __iomem * addr);
|
||||||
|
extern void ccat_update_remove(struct ccat_update *update);
|
||||||
|
#endif /* #ifndef _UPDATE_H_ */
|
||||||
|
|
@ -44,11 +44,7 @@
|
||||||
|
|
||||||
// Application parameters
|
// Application parameters
|
||||||
#define FREQUENCY 100
|
#define FREQUENCY 100
|
||||||
#define PRIORITY 1
|
#define PRIORITY 0
|
||||||
|
|
||||||
// Optional features
|
|
||||||
#define CONFIGURE_PDOS 1
|
|
||||||
#define SDO_ACCESS 0
|
|
||||||
|
|
||||||
/****************************************************************************/
|
/****************************************************************************/
|
||||||
|
|
||||||
|
|
@ -71,107 +67,82 @@ static unsigned int user_alarms = 0;
|
||||||
// process data
|
// process data
|
||||||
static uint8_t *domain1_pd = NULL;
|
static uint8_t *domain1_pd = NULL;
|
||||||
|
|
||||||
#define BusCouplerPos 0, 0
|
#define BusCouplerPos 0, 3
|
||||||
#define DigOutSlavePos 0, 2
|
#define DigOutSlavePos 0, 0
|
||||||
#define AnaInSlavePos 0, 3
|
|
||||||
#define AnaOutSlavePos 0, 4
|
|
||||||
|
|
||||||
#define Beckhoff_EK1100 0x00000002, 0x044c2c52
|
//#define Beckhoff_EK1100 0x00000002, 0x044c2c52
|
||||||
|
#define Beckhoff_EK1100 0x00000002, 0x04562c52
|
||||||
|
#define Beckhoff_EL1008 0x00000002, 0x03f03052
|
||||||
#define Beckhoff_EL2004 0x00000002, 0x07d43052
|
#define Beckhoff_EL2004 0x00000002, 0x07d43052
|
||||||
|
#define Beckhoff_EL2008 0x00000002, 0x07d83052
|
||||||
#define Beckhoff_EL2032 0x00000002, 0x07f03052
|
#define Beckhoff_EL2032 0x00000002, 0x07f03052
|
||||||
#define Beckhoff_EL3152 0x00000002, 0x0c503052
|
#define Beckhoff_EL3152 0x00000002, 0x0c503052
|
||||||
#define Beckhoff_EL3102 0x00000002, 0x0c1e3052
|
#define Beckhoff_EL3102 0x00000002, 0x0c1e3052
|
||||||
#define Beckhoff_EL4102 0x00000002, 0x10063052
|
#define Beckhoff_EL4102 0x00000002, 0x10063052
|
||||||
|
|
||||||
// offsets for PDO entries
|
// offsets for PDO entries
|
||||||
static unsigned int off_ana_in_status;
|
static unsigned int off_dig_in[1];
|
||||||
static unsigned int off_ana_in_value;
|
static unsigned int off_dig_out[2];
|
||||||
static unsigned int off_ana_out;
|
|
||||||
static unsigned int off_dig_out;
|
|
||||||
|
|
||||||
const static ec_pdo_entry_reg_t domain1_regs[] = {
|
|
||||||
{AnaInSlavePos, Beckhoff_EL3102, 0x3101, 1, &off_ana_in_status},
|
|
||||||
{AnaInSlavePos, Beckhoff_EL3102, 0x3101, 2, &off_ana_in_value},
|
|
||||||
{AnaOutSlavePos, Beckhoff_EL4102, 0x3001, 1, &off_ana_out},
|
|
||||||
{DigOutSlavePos, Beckhoff_EL2032, 0x3001, 1, &off_dig_out},
|
|
||||||
{}
|
|
||||||
};
|
|
||||||
|
|
||||||
static unsigned int counter = 0;
|
|
||||||
static unsigned int blink = 0;
|
|
||||||
|
|
||||||
/*****************************************************************************/
|
/*****************************************************************************/
|
||||||
|
// Digital in ------------------------
|
||||||
#if CONFIGURE_PDOS
|
static ec_pdo_entry_info_t el1008_channels[] = {
|
||||||
|
{0x6000, 1, 1},
|
||||||
// Analog in --------------------------
|
{0x6010, 1, 1},
|
||||||
|
{0x6020, 1, 1},
|
||||||
static ec_pdo_entry_info_t el3102_pdo_entries[] = {
|
{0x6030, 1, 1},
|
||||||
{0x3101, 1, 8}, // channel 1 status
|
{0x6040, 1, 1},
|
||||||
{0x3101, 2, 16}, // channel 1 value
|
{0x6050, 1, 1},
|
||||||
{0x3102, 1, 8}, // channel 2 status
|
{0x6060, 1, 1},
|
||||||
{0x3102, 2, 16}, // channel 2 value
|
{0x6070, 1, 1},
|
||||||
{0x6401, 1, 16}, // channel 1 value (alt.)
|
|
||||||
{0x6401, 2, 16} // channel 2 value (alt.)
|
|
||||||
};
|
};
|
||||||
|
|
||||||
static ec_pdo_info_t el3102_pdos[] = {
|
static ec_pdo_info_t el1008_pdos[] = {
|
||||||
{0x1A00, 2, el3102_pdo_entries},
|
{0x1a00, 1, &el1008_channels[0]},
|
||||||
{0x1A01, 2, el3102_pdo_entries + 2}
|
{0x1a01, 1, &el1008_channels[1]},
|
||||||
|
{0x1a02, 1, &el1008_channels[2]},
|
||||||
|
{0x1a03, 1, &el1008_channels[3]},
|
||||||
|
{0x1a04, 1, &el1008_channels[4]},
|
||||||
|
{0x1a05, 1, &el1008_channels[5]},
|
||||||
|
{0x1a06, 1, &el1008_channels[6]},
|
||||||
|
{0x1a07, 1, &el1008_channels[7]}
|
||||||
};
|
};
|
||||||
|
|
||||||
static ec_sync_info_t el3102_syncs[] = {
|
static ec_sync_info_t el1008_syncs[] = {
|
||||||
{2, EC_DIR_OUTPUT},
|
{2, EC_DIR_OUTPUT},
|
||||||
{3, EC_DIR_INPUT, 2, el3102_pdos},
|
{3, EC_DIR_INPUT, 8, el1008_pdos},
|
||||||
{0xff}
|
|
||||||
};
|
|
||||||
|
|
||||||
// Analog out -------------------------
|
|
||||||
|
|
||||||
static ec_pdo_entry_info_t el4102_pdo_entries[] = {
|
|
||||||
{0x3001, 1, 16}, // channel 1 value
|
|
||||||
{0x3002, 1, 16}, // channel 2 value
|
|
||||||
};
|
|
||||||
|
|
||||||
static ec_pdo_info_t el4102_pdos[] = {
|
|
||||||
{0x1600, 1, el4102_pdo_entries},
|
|
||||||
{0x1601, 1, el4102_pdo_entries + 1}
|
|
||||||
};
|
|
||||||
|
|
||||||
static ec_sync_info_t el4102_syncs[] = {
|
|
||||||
{2, EC_DIR_OUTPUT, 2, el4102_pdos},
|
|
||||||
{3, EC_DIR_INPUT},
|
|
||||||
{0xff}
|
{0xff}
|
||||||
};
|
};
|
||||||
|
|
||||||
// Digital out ------------------------
|
// Digital out ------------------------
|
||||||
|
static ec_pdo_entry_info_t el2008_channels[] = {
|
||||||
static ec_pdo_entry_info_t el2004_channels[] = {
|
{0x7000, 1, 1},
|
||||||
{0x3001, 1, 1}, // Value 1
|
{0x7010, 1, 1},
|
||||||
{0x3001, 2, 1}, // Value 2
|
{0x7020, 1, 1},
|
||||||
{0x3001, 3, 1}, // Value 3
|
{0x7030, 1, 1},
|
||||||
{0x3001, 4, 1} // Value 4
|
{0x7040, 1, 1},
|
||||||
|
{0x7050, 1, 1},
|
||||||
|
{0x7060, 1, 1},
|
||||||
|
{0x7070, 1, 1},
|
||||||
};
|
};
|
||||||
|
|
||||||
static ec_pdo_info_t el2004_pdos[] = {
|
static ec_pdo_info_t el2008_pdos[] = {
|
||||||
{0x1600, 1, &el2004_channels[0]},
|
{0x1600, 1, &el2008_channels[0]},
|
||||||
{0x1601, 1, &el2004_channels[1]},
|
{0x1601, 1, &el2008_channels[1]},
|
||||||
{0x1602, 1, &el2004_channels[2]},
|
{0x1602, 1, &el2008_channels[2]},
|
||||||
{0x1603, 1, &el2004_channels[3]}
|
{0x1603, 1, &el2008_channels[3]},
|
||||||
|
{0x1604, 1, &el2008_channels[4]},
|
||||||
|
{0x1605, 1, &el2008_channels[5]},
|
||||||
|
{0x1606, 1, &el2008_channels[6]},
|
||||||
|
{0x1607, 1, &el2008_channels[7]}
|
||||||
};
|
};
|
||||||
|
|
||||||
static ec_sync_info_t el2004_syncs[] = {
|
static ec_sync_info_t el2008_syncs[] = {
|
||||||
{0, EC_DIR_OUTPUT, 4, el2004_pdos},
|
{0, EC_DIR_OUTPUT, 8, el2008_pdos},
|
||||||
{1, EC_DIR_INPUT},
|
{1, EC_DIR_INPUT},
|
||||||
{0xff}
|
{0xff}
|
||||||
};
|
};
|
||||||
#endif
|
|
||||||
|
|
||||||
/*****************************************************************************/
|
|
||||||
|
|
||||||
#if SDO_ACCESS
|
|
||||||
static ec_sdo_request_t *sdo;
|
|
||||||
#endif
|
|
||||||
|
|
||||||
/*****************************************************************************/
|
/*****************************************************************************/
|
||||||
|
|
||||||
|
|
@ -226,74 +197,59 @@ void check_slave_config_states(void)
|
||||||
sc_ana_in_state = s;
|
sc_ana_in_state = s;
|
||||||
}
|
}
|
||||||
|
|
||||||
/*****************************************************************************/
|
|
||||||
|
|
||||||
#if SDO_ACCESS
|
|
||||||
void read_sdo(void)
|
|
||||||
{
|
|
||||||
switch (ecrt_sdo_request_state(sdo)) {
|
|
||||||
case EC_REQUEST_UNUSED: // request was not used yet
|
|
||||||
ecrt_sdo_request_read(sdo); // trigger first read
|
|
||||||
break;
|
|
||||||
case EC_REQUEST_BUSY:
|
|
||||||
fprintf(stderr, "Still busy...\n");
|
|
||||||
break;
|
|
||||||
case EC_REQUEST_SUCCESS:
|
|
||||||
fprintf(stderr, "SDO value: 0x%04X\n",
|
|
||||||
EC_READ_U16(ecrt_sdo_request_data(sdo)));
|
|
||||||
ecrt_sdo_request_read(sdo); // trigger next read
|
|
||||||
break;
|
|
||||||
case EC_REQUEST_ERROR:
|
|
||||||
fprintf(stderr, "Failed to read SDO!\n");
|
|
||||||
ecrt_sdo_request_read(sdo); // retry reading
|
|
||||||
break;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
#endif
|
|
||||||
|
|
||||||
/****************************************************************************/
|
/****************************************************************************/
|
||||||
|
|
||||||
void cyclic_task()
|
void cyclic_task()
|
||||||
{
|
{
|
||||||
|
static unsigned int counter = 10;
|
||||||
|
static uint8_t outputValue = 0;
|
||||||
|
static int numAsyncCycles = 0;
|
||||||
|
uint8_t inputValue = 0;
|
||||||
|
static uint8_t error = 0;
|
||||||
|
|
||||||
// receive process data
|
// receive process data
|
||||||
ecrt_master_receive(master);
|
ecrt_master_receive(master);
|
||||||
ecrt_domain_process(domain1);
|
ecrt_domain_process(domain1);
|
||||||
|
|
||||||
// check process data state (optional)
|
// check process data state (optional)
|
||||||
check_domain1_state();
|
check_domain1_state();
|
||||||
|
|
||||||
|
|
||||||
|
inputValue = EC_READ_U8(domain1_pd + off_dig_in[0]);
|
||||||
|
|
||||||
|
if(inputValue != outputValue) {
|
||||||
|
numAsyncCycles++;
|
||||||
|
} else {
|
||||||
|
numAsyncCycles = 0;
|
||||||
|
}
|
||||||
|
|
||||||
|
if(numAsyncCycles > 2) {
|
||||||
|
if(error != 0xff) {
|
||||||
|
error++;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
|
||||||
if (counter) {
|
if (counter) {
|
||||||
counter--;
|
counter--;
|
||||||
} else { // do this at 1 Hz
|
} else {
|
||||||
counter = FREQUENCY;
|
counter = 5; //update delay
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
// calculate new process data
|
// calculate new process data
|
||||||
blink = !blink;
|
outputValue++;
|
||||||
|
|
||||||
// check for master state (optional)
|
// check for master state (optional)
|
||||||
check_master_state();
|
check_master_state();
|
||||||
|
|
||||||
// check for islave configuration state(s) (optional)
|
// check for islave configuration state(s) (optional)
|
||||||
check_slave_config_states();
|
check_slave_config_states();
|
||||||
|
|
||||||
#if SDO_ACCESS
|
|
||||||
// read process data SDO
|
|
||||||
read_sdo();
|
|
||||||
#endif
|
|
||||||
|
|
||||||
}
|
}
|
||||||
|
|
||||||
#if 0
|
|
||||||
// read process data
|
|
||||||
printf("AnaIn: state %u value %u\n",
|
|
||||||
EC_READ_U8(domain1_pd + off_ana_in_status),
|
|
||||||
EC_READ_U16(domain1_pd + off_ana_in_value));
|
|
||||||
#endif
|
|
||||||
|
|
||||||
#if 1
|
|
||||||
// write process data
|
// write process data
|
||||||
EC_WRITE_U8(domain1_pd + off_dig_out, blink ? 0x06 : 0x09);
|
EC_WRITE_U8(domain1_pd + off_dig_out[1], outputValue);
|
||||||
#endif
|
EC_WRITE_U8(domain1_pd + off_dig_out[0], error);
|
||||||
|
|
||||||
// send process data
|
// send process data
|
||||||
ecrt_domain_queue(domain1);
|
ecrt_domain_queue(domain1);
|
||||||
|
|
@ -312,11 +268,31 @@ void signal_handler(int signum) {
|
||||||
|
|
||||||
/****************************************************************************/
|
/****************************************************************************/
|
||||||
|
|
||||||
|
int Init_EL2008(uint16_t position)
|
||||||
|
{
|
||||||
|
ec_slave_config_t *sc;
|
||||||
|
if (!(sc = ecrt_master_slave_config(master, 0, position, Beckhoff_EL2008))) {
|
||||||
|
fprintf(stderr, "Failed to get EL2008 configuration #%u.\n", position);
|
||||||
|
return -1;
|
||||||
|
}
|
||||||
|
if (ecrt_slave_config_pdos(sc, EC_END, el2008_syncs)) {
|
||||||
|
fprintf(stderr, "Failed to configure PDOs #%u.\n", position);
|
||||||
|
return -1;
|
||||||
|
}
|
||||||
|
if (0 > (off_dig_out[position] = ecrt_slave_config_reg_pdo_entry(sc, 0x7000, 1, domain1, NULL))) {
|
||||||
|
fprintf(stderr, "Failed to configure reg PDOs #%u.\n", position);
|
||||||
|
return -1;
|
||||||
|
}
|
||||||
|
fprintf(stderr, "EL2008 #%u configured offset: %d.\n", position, off_dig_out[position]);
|
||||||
|
return 0;
|
||||||
|
}
|
||||||
|
|
||||||
int main(int argc, char **argv)
|
int main(int argc, char **argv)
|
||||||
{
|
{
|
||||||
ec_slave_config_t *sc;
|
ec_slave_config_t *sc;
|
||||||
struct sigaction sa;
|
struct sigaction sa;
|
||||||
struct itimerval tv;
|
struct itimerval tv;
|
||||||
|
uint16_t i;
|
||||||
|
|
||||||
master = ecrt_request_master(0);
|
master = ecrt_request_master(0);
|
||||||
if (!master)
|
if (!master)
|
||||||
|
|
@ -326,60 +302,33 @@ int main(int argc, char **argv)
|
||||||
if (!domain1)
|
if (!domain1)
|
||||||
return -1;
|
return -1;
|
||||||
|
|
||||||
if (!(sc_ana_in = ecrt_master_slave_config(
|
|
||||||
master, AnaInSlavePos, Beckhoff_EL3102))) {
|
|
||||||
fprintf(stderr, "Failed to get slave configuration.\n");
|
|
||||||
return -1;
|
|
||||||
}
|
|
||||||
|
|
||||||
#if SDO_ACCESS
|
|
||||||
fprintf(stderr, "Creating SDO requests...\n");
|
|
||||||
if (!(sdo = ecrt_slave_config_create_sdo_request(sc_ana_in, 0x3102, 2, 2))) {
|
|
||||||
fprintf(stderr, "Failed to create SDO request.\n");
|
|
||||||
return -1;
|
|
||||||
}
|
|
||||||
ecrt_sdo_request_timeout(sdo, 500); // ms
|
|
||||||
#endif
|
|
||||||
|
|
||||||
#if CONFIGURE_PDOS
|
|
||||||
printf("Configuring PDOs...\n");
|
printf("Configuring PDOs...\n");
|
||||||
if (ecrt_slave_config_pdos(sc_ana_in, EC_END, el3102_syncs)) {
|
if (!(sc_ana_in = ecrt_master_slave_config(master, 0, 2, Beckhoff_EL1008))) {
|
||||||
|
fprintf(stderr, "Failed to get digital in configuration.\n");
|
||||||
|
return -1;
|
||||||
|
}
|
||||||
|
if (ecrt_slave_config_pdos(sc_ana_in, EC_END, el1008_syncs)) {
|
||||||
fprintf(stderr, "Failed to configure PDOs.\n");
|
fprintf(stderr, "Failed to configure PDOs.\n");
|
||||||
return -1;
|
return -1;
|
||||||
}
|
}
|
||||||
|
if (0 > (off_dig_in[0] = ecrt_slave_config_reg_pdo_entry(sc_ana_in, 0x6000, 1, domain1, NULL))) {
|
||||||
|
fprintf(stderr, "Failed to configure reg PDOs.\n");
|
||||||
|
return -1;
|
||||||
|
}
|
||||||
|
printf("EL1008 configured.\n");
|
||||||
|
|
||||||
if (!(sc = ecrt_master_slave_config(
|
for(i = 0; i < 2; ++i) {
|
||||||
master, AnaOutSlavePos, Beckhoff_EL4102))) {
|
if(Init_EL2008(i)) {
|
||||||
fprintf(stderr, "Failed to get slave configuration.\n");
|
fprintf(stderr, "Failed to initialize EL2008 #%u.\n", i);
|
||||||
return -1;
|
return -1;
|
||||||
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
if (ecrt_slave_config_pdos(sc, EC_END, el4102_syncs)) {
|
|
||||||
fprintf(stderr, "Failed to configure PDOs.\n");
|
|
||||||
return -1;
|
|
||||||
}
|
|
||||||
|
|
||||||
if (!(sc = ecrt_master_slave_config(
|
|
||||||
master, DigOutSlavePos, Beckhoff_EL2032))) {
|
|
||||||
fprintf(stderr, "Failed to get slave configuration.\n");
|
|
||||||
return -1;
|
|
||||||
}
|
|
||||||
|
|
||||||
if (ecrt_slave_config_pdos(sc, EC_END, el2004_syncs)) {
|
|
||||||
fprintf(stderr, "Failed to configure PDOs.\n");
|
|
||||||
return -1;
|
|
||||||
}
|
|
||||||
#endif
|
|
||||||
|
|
||||||
// Create configuration for bus coupler
|
// Create configuration for bus coupler
|
||||||
sc = ecrt_master_slave_config(master, BusCouplerPos, Beckhoff_EK1100);
|
sc = ecrt_master_slave_config(master, BusCouplerPos, Beckhoff_EK1100);
|
||||||
if (!sc)
|
if (!sc)
|
||||||
return -1;
|
return -1;
|
||||||
|
fprintf(stderr, "EK1100 configured.\n");
|
||||||
if (ecrt_domain_reg_pdo_entry_list(domain1, domain1_regs)) {
|
|
||||||
fprintf(stderr, "PDO entry registration failed!\n");
|
|
||||||
return -1;
|
|
||||||
}
|
|
||||||
|
|
||||||
printf("Activating master...\n");
|
printf("Activating master...\n");
|
||||||
if (ecrt_master_activate(master))
|
if (ecrt_master_activate(master))
|
||||||
|
|
|
||||||
Loading…
Reference in New Issue