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ethercat
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ethercat/master/module.c

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/******************************************************************************
*
* m o d u l e . c
*
* EtherCAT-Master-Treiber
*
* Autoren: Wilhelm Hagemeister, Florian Pose
*
* $Id$
*
* (C) Copyright IgH 2005
* Ingenieurgemeinschaft IgH
* Heinz-Bäcker Str. 34
* D-45356 Essen
* Tel.: +49 201/61 99 31
* Fax.: +49 201/61 98 36
* E-mail: sp@igh-essen.com
*
*****************************************************************************/
#include <linux/module.h>
#include <linux/kernel.h>
#include <linux/init.h>
#include "master.h"
#include "device.h"
/*****************************************************************************/
int __init ec_init_module(void);
void __exit ec_cleanup_module(void);
/*****************************************************************************/
#define LIT(X) #X
#define STR(X) LIT(X)
#define COMPILE_INFO "Revision " STR(EC_REV) \
", compiled by " STR(EC_USER) \
" at " STR(EC_DATE)
/*****************************************************************************/
int ec_master_count = 1;
ec_master_t *ec_masters = NULL;
int *ec_masters_reserved = NULL;
/*****************************************************************************/
MODULE_AUTHOR ("Wilhelm Hagemeister <hm@igh-essen.com>,"
"Florian Pose <fp@igh-essen.com>");
MODULE_DESCRIPTION ("EtherCAT master driver module");
MODULE_LICENSE("GPL");
MODULE_VERSION(COMPILE_INFO);
module_param(ec_master_count, int, 1);
MODULE_PARM_DESC(ec_master_count, "Number of EtherCAT master to initialize.");
/*****************************************************************************/
/**
Init-Funktion des EtherCAT-Master-Treibermodules
Initialisiert soviele Master, wie im Parameter ec_master_count
angegeben wurde (Default ist 1).
@returns 0, wenn alles o.k., -1 bei ungueltiger Anzahl Master
oder zu wenig Speicher.
*/
int __init ec_init_module(void)
{
unsigned int i;
printk(KERN_ERR "EtherCAT: Master driver, %s\n", COMPILE_INFO);
if (ec_master_count < 1) {
printk(KERN_ERR "EtherCAT: Error - Illegal"
" ec_master_count: %i\n", ec_master_count);
return -1;
}
printk(KERN_ERR "EtherCAT: Initializing %i EtherCAT master(s)...\n",
ec_master_count);
if ((ec_masters =
(ec_master_t *) kmalloc(sizeof(ec_master_t)
* ec_master_count,
GFP_KERNEL)) == NULL) {
printk(KERN_ERR "EtherCAT: Could not allocate"
" memory for EtherCAT master(s)!\n");
return -1;
}
if ((ec_masters_reserved =
(int *) kmalloc(sizeof(int) * ec_master_count,
GFP_KERNEL)) == NULL) {
printk(KERN_ERR "EtherCAT: Could not allocate"
" memory for reservation flags!\n");
kfree(ec_masters);
return -1;
}
for (i = 0; i < ec_master_count; i++)
{
ec_master_init(&ec_masters[i]);
ec_masters_reserved[i] = 0;
}
printk(KERN_ERR "EtherCAT: Master driver initialized.\n");
return 0;
}
/*****************************************************************************/
/**
Cleanup-Funktion des EtherCAT-Master-Treibermoduls
Entfernt alle Master-Instanzen.
*/
void __exit ec_cleanup_module(void)
{
unsigned int i;
printk(KERN_ERR "EtherCAT: Cleaning up master driver...\n");
if (ec_masters)
{
for (i = 0; i < ec_master_count; i++)
{
if (ec_masters_reserved[i]) {
printk(KERN_WARNING "EtherCAT: Warning -"
" Master %i is still in use!\n", i);
}
ec_master_clear(&ec_masters[i]);
}
kfree(ec_masters);
}
printk(KERN_ERR "EtherCAT: Master driver cleaned up.\n");
}
/******************************************************************************
*
* Treiberschnittstelle
*
*****************************************************************************/
/**
Setzt das EtherCAT-Geraet, auf dem der Master arbeitet.
@param master Der EtherCAT-Master
@param device Das EtherCAT-Geraet
@return 0, wenn alles o.k.,
< 0, wenn bereits ein Geraet registriert
oder das Geraet nicht geoeffnet werden konnte.
*/
ec_device_t *EtherCAT_dev_register(unsigned int master_index,
struct net_device *dev,
irqreturn_t (*isr)(int, void *,
struct pt_regs *),
struct module *module)
{
ec_device_t *ecd;
ec_master_t *master;
if (master_index >= ec_master_count) {
printk(KERN_ERR "EtherCAT: Master %i does not exist!\n", master_index);
return NULL;
}
if (!dev) {
printk("EtherCAT: Device is NULL!\n");
return NULL;
}
master = ec_masters + master_index;
if (master->device_registered) {
printk(KERN_ERR "EtherCAT: Master %i already has a device!\n",
master_index);
return NULL;
}
ecd = &master->device;
if (ec_device_init(ecd) < 0) {
return NULL;
}
ecd->dev = dev;
ecd->tx_skb->dev = dev;
ecd->rx_skb->dev = dev;
ecd->isr = isr;
ecd->module = module;
master->device_registered = 1;
return ecd;
}
/*****************************************************************************/
/**
Loescht das EtherCAT-Geraet, auf dem der Master arbeitet.
@param master Der EtherCAT-Master
@param device Das EtherCAT-Geraet
*/
void EtherCAT_dev_unregister(unsigned int master_index, ec_device_t *ecd)
{
ec_master_t *master;
if (master_index >= ec_master_count) {
printk(KERN_WARNING "EtherCAT: Master %i does not exist!\n", master_index);
return;
}
master = ec_masters + master_index;
if (!master->device_registered || &master->device != ecd) {
printk(KERN_ERR "EtherCAT: Unable to unregister device!\n");
return;
}
master->device_registered = 0;
ec_device_clear(ecd);
}
/******************************************************************************
*
* Echtzeitschnittstelle
*
*****************************************************************************/
/**
Reserviert einen bestimmten EtherCAT-Master und das zugehörige Gerät.
Gibt einen Zeiger auf den reservierten EtherCAT-Master zurueck.
@param index Index des gewuenschten Masters
@returns Zeiger auf EtherCAT-Master oder NULL, wenn Parameter ungueltig.
*/
ec_master_t *EtherCAT_rt_request_master(unsigned int index)
{
ec_master_t *master;
if (index < 0 || index >= ec_master_count) {
printk(KERN_ERR "EtherCAT: Master %i does not exist!\n", index);
goto req_return;
}
if (ec_masters_reserved[index]) {
printk(KERN_ERR "EtherCAT: Master %i already in use!\n", index);
goto req_return;
}
master = &ec_masters[index];
if (!master->device_registered) {
printk(KERN_ERR "EtherCAT: Master %i has no device assigned yet!\n",
index);
goto req_return;
}
if (!try_module_get(master->device.module)) {
printk(KERN_ERR "EtherCAT: Could not reserve device module!\n");
goto req_return;
}
if (ec_master_open(master) < 0) {
printk(KERN_ERR "EtherCAT: Could not open device!\n");
goto req_module_put;
}
if (ec_scan_for_slaves(master) != 0) {
printk(KERN_ERR "EtherCAT: Could not scan for slaves!\n");
goto req_close;
}
ec_masters_reserved[index] = 1;
printk(KERN_INFO "EtherCAT: Reserved master %i.\n", index);
return master;
req_close:
ec_master_close(master);
req_module_put:
module_put(master->device.module);
req_return:
return NULL;
}
/*****************************************************************************/
/**
Gibt einen zuvor angeforderten EtherCAT-Master wieder frei.
@param master Zeiger auf den freizugebenden EtherCAT-Master.
*/
void EtherCAT_rt_release_master(ec_master_t *master)
{
unsigned int i;
for (i = 0; i < ec_master_count; i++)
{
if (&ec_masters[i] == master)
{
if (!master->device_registered) {
printk(KERN_WARNING "EtherCAT: Could not release device"
"module because of no device!\n");
return;
}
ec_master_close(master);
ec_master_reset(master);
module_put(master->device.module);
ec_masters_reserved[i] = 0;
printk(KERN_INFO "EtherCAT: Released master %i.\n", i);
return;
}
}
printk(KERN_WARNING "EtherCAT: Master %X was never requested!\n",
(unsigned int) master);
}
/*****************************************************************************/
module_init(ec_init_module);
module_exit(ec_cleanup_module);
EXPORT_SYMBOL(EtherCAT_dev_register);
EXPORT_SYMBOL(EtherCAT_dev_unregister);
EXPORT_SYMBOL(EtherCAT_rt_request_master);
EXPORT_SYMBOL(EtherCAT_rt_release_master);
/*****************************************************************************/
/* Emacs-Konfiguration
;;; Local Variables: ***
;;; c-basic-offset:2 ***
;;; End: ***
*/
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