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ethercat
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ethercat/master/device.c

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/******************************************************************************
*
* $Id$
*
* Copyright (C) 2006 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
* as published by the Free Software Foundation; either version 2 of the
* License, or (at your option) any later version.
*
* The IgH EtherCAT Master is distributed in the hope that it will be
* useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
* 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 right to use EtherCAT Technology is granted and comes free of
* charge under condition of compatibility of product made by
* Licensee. People intending to distribute/sell products based on the
* code, have to sign an agreement to guarantee that products using
* software based on IgH EtherCAT master stay compatible with the actual
* EtherCAT specification (which are released themselves as an open
* standard) as the (only) precondition to have the right to use EtherCAT
* Technology, IP and trade marks.
*
*****************************************************************************/
/**
\file
EtherCAT device methods.
*/
/*****************************************************************************/
#include <linux/module.h>
#include <linux/skbuff.h>
#include <linux/if_ether.h>
#include <linux/netdevice.h>
#include <linux/delay.h>
#include "device.h"
#include "master.h"
/*****************************************************************************/
/**
Device constructor.
\return 0 in case of success, else < 0
*/
int ec_device_init(ec_device_t *device, /**< EtherCAT device */
ec_master_t *master, /**< master owning the device */
struct net_device *net_dev, /**< net_device structure */
ec_pollfunc_t poll, /**< pointer to device's poll function */
struct module *module /**< the device's module */
)
{
struct ethhdr *eth;
device->master = master;
device->dev = net_dev;
device->poll = poll;
device->open = 0;
device->link_state = 0; // down
device->tx_count = 0;
device->rx_count = 0;
#ifdef EC_DBG_IF
if (ec_debug_init(&device->dbg)) {
EC_ERR("Failed to init debug device!\n");
goto out_return;
}
#endif
if (!(device->tx_skb = dev_alloc_skb(ETH_FRAME_LEN))) {
EC_ERR("Error allocating device socket buffer!\n");
#ifdef EC_DBG_IF
goto out_debug;
#else
goto out_return;
#endif
}
device->tx_skb->dev = net_dev;
// add Ethernet-II-header
skb_reserve(device->tx_skb, ETH_HLEN);
eth = (struct ethhdr *) skb_push(device->tx_skb, ETH_HLEN);
eth->h_proto = htons(0x88A4);
memcpy(eth->h_source, net_dev->dev_addr, net_dev->addr_len);
memset(eth->h_dest, 0xFF, net_dev->addr_len);
return 0;
#ifdef EC_DBG_IF
out_debug:
ec_debug_clear(&device->dbg);
#endif
out_return:
return -1;
}
/*****************************************************************************/
/**
EtherCAT device destuctor.
*/
void ec_device_clear(ec_device_t *device /**< EtherCAT device */)
{
if (device->open) ec_device_close(device);
if (device->tx_skb) dev_kfree_skb(device->tx_skb);
#ifdef EC_DBG_IF
ec_debug_clear(&device->dbg);
#endif
}
/*****************************************************************************/
/**
Opens the EtherCAT device.
\return 0 in case of success, else < 0
*/
int ec_device_open(ec_device_t *device /**< EtherCAT device */)
{
unsigned int i;
if (!device->dev) {
EC_ERR("No net_device to open!\n");
return -1;
}
if (device->open) {
EC_WARN("Device already opened!\n");
return 0;
}
// device could have received frames before
for (i = 0; i < 4; i++) ec_device_poll(device);
device->link_state = 0;
device->tx_count = 0;
device->rx_count = 0;
if (device->dev->open(device->dev) == 0) device->open = 1;
return device->open ? 0 : -1;
}
/*****************************************************************************/
/**
Stops the EtherCAT device.
\return 0 in case of success, else < 0
*/
int ec_device_close(ec_device_t *device /**< EtherCAT device */)
{
if (!device->dev) {
EC_ERR("No device to close!\n");
return -1;
}
if (!device->open) {
EC_WARN("Device already closed!\n");
return 0;
}
if (device->dev->stop(device->dev) == 0) device->open = 0;
return !device->open ? 0 : -1;
}
/*****************************************************************************/
/**
Returns a pointer to the device's transmit memory.
\return pointer to the TX socket buffer
*/
uint8_t *ec_device_tx_data(ec_device_t *device /**< EtherCAT device */)
{
return device->tx_skb->data + ETH_HLEN;
}
/*****************************************************************************/
/**
Sends the content of the transmit socket buffer.
Cuts the socket buffer content to the (now known) size, and calls the
start_xmit() function of the assigned net_device.
*/
void ec_device_send(ec_device_t *device, /**< EtherCAT device */
size_t size /**< number of bytes to send */
)
{
if (unlikely(!device->link_state)) // Link down
return;
// set the right length for the data
device->tx_skb->len = ETH_HLEN + size;
if (unlikely(device->master->debug_level > 1)) {
EC_DBG("sending frame:\n");
ec_print_data(device->tx_skb->data + ETH_HLEN, size);
}
#ifdef EC_DBG_IF
ec_debug_send(&device->dbg, device->tx_skb->data, ETH_HLEN + size);
#endif
// start sending
device->dev->hard_start_xmit(device->tx_skb, device->dev);
device->tx_count++;
}
/*****************************************************************************/
/**
Calls the poll function of the assigned net_device.
The master itself works without using interrupts. Therefore the processing
of received data and status changes of the network device has to be
done by the master calling the ISR "manually".
*/
void ec_device_poll(ec_device_t *device /**< EtherCAT device */)
{
device->cycles_poll = get_cycles();
device->jiffies_poll = jiffies;
device->poll(device->dev);
}
/******************************************************************************
* Device interface
*****************************************************************************/
/**
Accepts a received frame.
Forwards the received data to the master. The master will analyze the frame
and dispatch the received commands to the sending instances.
\ingroup DeviceInterface
*/
void ecdev_receive(ec_device_t *device, /**< EtherCAT device */
const void *data, /**< pointer to received data */
size_t size /**< number of bytes received */
)
{
device->rx_count++;
if (unlikely(device->master->debug_level > 1)) {
EC_DBG("Received frame:\n");
ec_print_data_diff(device->tx_skb->data + ETH_HLEN,
data + ETH_HLEN, size - ETH_HLEN);
}
#ifdef EC_DBG_IF
ec_debug_send(&device->dbg, data, size);
#endif
ec_master_receive_datagrams(device->master,
data + ETH_HLEN,
size - ETH_HLEN);
}
/*****************************************************************************/
/**
Sets a new link state.
If the device notifies the master about the link being down, the master
will not try to send frames using this device.
\ingroup DeviceInterface
*/
void ecdev_link_state(ec_device_t *device, /**< EtherCAT device */
uint8_t state /**< new link state */
)
{
if (unlikely(!device)) {
EC_WARN("ecdev_link_state: no device!\n");
return;
}
if (likely(state != device->link_state)) {
device->link_state = state;
EC_INFO("Link state changed to %s.\n", (state ? "UP" : "DOWN"));
}
}
/*****************************************************************************/
/** \cond */
EXPORT_SYMBOL(ecdev_receive);
EXPORT_SYMBOL(ecdev_link_state);
/** \endcond */
/*****************************************************************************/
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