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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 "globals.h"
#include "master.h"
#include "device.h"
/*****************************************************************************/
int __init ec_init_module(void);
void __exit ec_cleanup_module(void);
/*****************************************************************************/
#define COMPILE_INFO "Revision " EC_STR(SVNREV) \
", compiled by " EC_STR(USER) \
" at " __DATE__ " " __TIME__
/*****************************************************************************/
static int ec_master_count = 1;
static struct list_head ec_masters;
/*****************************************************************************/
MODULE_AUTHOR ("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).
\return 0 wenn alles ok, < 0 bei ungültiger Anzahl Master
oder zu wenig Speicher.
*/
int __init ec_init_module(void)
{
unsigned int i;
ec_master_t *master, *next;
EC_INFO("Master driver, %s\n", COMPILE_INFO);
if (ec_master_count < 1) {
EC_ERR("Error - Invalid ec_master_count: %i\n", ec_master_count);
goto out_return;
}
EC_INFO("Initializing %i EtherCAT master(s)...\n", ec_master_count);
INIT_LIST_HEAD(&ec_masters);
for (i = 0; i < ec_master_count; i++) {
if (!(master =
(ec_master_t *) kmalloc(sizeof(ec_master_t), GFP_KERNEL))) {
EC_ERR("Failed to allocate memory for EtherCAT master %i.\n", i);
goto out_free;
}
if (ec_master_init(master, i)) // kobject_put is done inside...
goto out_free;
if (kobject_add(&master->kobj)) {
EC_ERR("Failed to add kobj.\n");
kobject_put(&master->kobj); // free master
goto out_free;
}
list_add_tail(&master->list, &ec_masters);
}
EC_INFO("Master driver initialized.\n");
return 0;
out_free:
list_for_each_entry_safe(master, next, &ec_masters, list) {
list_del(&master->list);
kobject_del(&master->kobj);
kobject_put(&master->kobj);
}
out_return:
return -1;
}
/*****************************************************************************/
/**
Cleanup-Funktion des EtherCAT-Master-Treibermoduls
Entfernt alle Master-Instanzen.
*/
void __exit ec_cleanup_module(void)
{
ec_master_t *master, *next;
EC_INFO("Cleaning up master driver...\n");
list_for_each_entry_safe(master, next, &ec_masters, list) {
list_del(&master->list);
kobject_del(&master->kobj);
kobject_put(&master->kobj); // free master
}
EC_INFO("Master driver cleaned up.\n");
}
/*****************************************************************************/
/**
Gets a handle to a certain master.
\returns pointer to master
*/
ec_master_t *ec_find_master(unsigned int master_index)
{
ec_master_t *master;
list_for_each_entry(master, &ec_masters, list) {
if (master->index == master_index) return master;
}
EC_ERR("Master %i does not exist!\n", master_index);
return NULL;
}
/******************************************************************************
*
* Treiberschnittstelle
*
*****************************************************************************/
/**
Registeriert das EtherCAT-Geraet fuer einen EtherCAT-Master.
\return 0 wenn alles ok, oder < 0 wenn bereits ein Gerät registriert
oder das Geraet nicht geöffnet werden konnte.
*/
ec_device_t *ecdev_register(unsigned int master_index,
/**< Index des EtherCAT-Masters */
struct net_device *net_dev,
/**< net_device des EtherCAT-Gerätes */
ec_isr_t isr,
/**< Interrupt-Service-Routine */
struct module *module
/**< Zeiger auf das Modul */
)
{
ec_master_t *master;
if (!net_dev) {
EC_WARN("Device is NULL!\n");
goto out_return;
}
if (!(master = ec_find_master(master_index))) return NULL;
// critical section start
if (master->device) {
EC_ERR("Master %i already has a device!\n", master_index);
// critical section leave
goto out_return;
}
if (!(master->device =
(ec_device_t *) kmalloc(sizeof(ec_device_t), GFP_KERNEL))) {
EC_ERR("Failed to allocate device!\n");
// critical section leave
goto out_return;
}
// critical section end
if (ec_device_init(master->device, master, net_dev, isr, module)) {
EC_ERR("Failed to init device!\n");
goto out_free;
}
return master->device;
out_free:
kfree(master->device);
master->device = NULL;
out_return:
return NULL;
}
/*****************************************************************************/
/**
Hebt die Registrierung eines EtherCAT-Gerätes auf.
*/
void ecdev_unregister(unsigned int master_index,
/**< Index des EtherCAT-Masters */
ec_device_t *device
/**< EtherCAT-Geraet */
)
{
ec_master_t *master;
if (!(master = ec_find_master(master_index))) return;
if (!master->device || master->device != device) {
EC_WARN("Unable to unregister device!\n");
return;
}
ec_device_clear(master->device);
kfree(master->device);
master->device = NULL;
}
/*****************************************************************************/
/**
Starts the master.
*/
int ecdev_start(unsigned int master_index
/**< Index des EtherCAT-Masters */
)
{
ec_master_t *master;
if (!(master = ec_find_master(master_index))) return -1;
if (ec_device_open(master->device)) {
EC_ERR("Failed to open device!\n");
return -1;
}
ec_master_freerun_start(master);
return 0;
}
/*****************************************************************************/
/**
Stops the master.
*/
void ecdev_stop(unsigned int master_index
/**< Index des EtherCAT-Masters */
)
{
ec_master_t *master;
if (!(master = ec_find_master(master_index))) return;
ec_master_freerun_stop(master);
if (ec_device_close(master->device))
EC_WARN("Failed to close device!\n");
}
/******************************************************************************
*
* Echtzeitschnittstelle
*
*****************************************************************************/
/**
Reserviert einen bestimmten EtherCAT-Master und das zugehörige Gerät.
Gibt einen Zeiger auf den reservierten EtherCAT-Master zurueck.
\return Zeiger auf EtherCAT-Master oder NULL, wenn Parameter ungueltig.
*/
ec_master_t *ecrt_request_master(unsigned int master_index
/**< EtherCAT-Master-Index */
)
{
ec_master_t *master;
EC_INFO("Requesting master %i...\n", master_index);
if (!(master = ec_find_master(master_index))) goto out_return;
// begin critical section
if (master->reserved) {
EC_ERR("Master %i is already in use!\n", master_index);
goto out_return;
}
master->reserved = 1;
// end critical section
if (!master->device) {
EC_ERR("Master %i has no assigned device!\n", master_index);
goto out_release;
}
if (!try_module_get(master->device->module)) {
EC_ERR("Failed to reserve device module!\n");
goto out_release;
}
ec_master_freerun_stop(master);
ec_master_reset(master);
master->mode = EC_MASTER_MODE_RUNNING;
if (!master->device->link_state) EC_WARN("Link is DOWN.\n");
if (ec_master_bus_scan(master)) {
EC_ERR("Bus scan failed!\n");
goto out_module_put;
}
EC_INFO("Master %i is ready.\n", master_index);
return master;
out_module_put:
module_put(master->device->module);
ec_master_reset(master);
out_release:
master->reserved = 0;
out_return:
EC_ERR("Failed requesting master %i.\n", master_index);
return NULL;
}
/*****************************************************************************/
/**
Gibt einen zuvor angeforderten EtherCAT-Master wieder frei.
*/
void ecrt_release_master(ec_master_t *master /**< EtherCAT-Master */)
{
EC_INFO("Releasing master %i...\n", master->index);
if (!master->reserved) {
EC_ERR("Master %i was never requested!\n", master->index);
return;
}
ec_master_reset(master);
master->mode = EC_MASTER_MODE_IDLE;
ec_master_freerun_start(master);
module_put(master->device->module);
master->reserved = 0;
EC_INFO("Released master %i.\n", master->index);
return;
}
/*****************************************************************************/
/**
Gibt Frame-Inhalte zwecks Debugging aus.
*/
void ec_print_data(const uint8_t *data, size_t size)
{
unsigned int i;
EC_DBG("");
for (i = 0; i < size; i++) {
printk("%02X ", data[i]);
if ((i + 1) % 16 == 0) {
printk("\n");
EC_DBG("");
}
}
printk("\n");
}
/*****************************************************************************/
/**
Gibt Frame-Inhalte zwecks Debugging aus, differentiell.
*/
void ec_print_data_diff(const uint8_t *d1, /**< Daten 1 */
const uint8_t *d2, /**< Daten 2 */
size_t size /** Anzahl Bytes */
)
{
unsigned int i;
EC_DBG("");
for (i = 0; i < size; i++) {
if (d1[i] == d2[i]) printk(".. ");
else printk("%02X ", d2[i]);
if ((i + 1) % 16 == 0) {
printk("\n");
EC_DBG("");
}
}
printk("\n");
}
/*****************************************************************************/
module_init(ec_init_module);
module_exit(ec_cleanup_module);
EXPORT_SYMBOL(ecdev_register);
EXPORT_SYMBOL(ecdev_unregister);
EXPORT_SYMBOL(ecdev_start);
EXPORT_SYMBOL(ecdev_stop);
EXPORT_SYMBOL(ecrt_request_master);
EXPORT_SYMBOL(ecrt_release_master);
/*****************************************************************************/
/* Emacs-Konfiguration
;;; Local Variables: ***
;;; c-basic-offset:4 ***
;;; End: ***
*/
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