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ethercat
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ethercat/master/ethernet.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; version 2 of the License.
*
* 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
*
*****************************************************************************/
/**
\file
Ethernet-over-EtherCAT (EoE).
*/
/*****************************************************************************/
#include <linux/etherdevice.h>
#include "../include/ecrt.h"
#include "globals.h"
#include "master.h"
#include "slave.h"
#include "mailbox.h"
#include "ethernet.h"
/*****************************************************************************/
void ec_eoedev_init(struct net_device *);
int ec_eoedev_open(struct net_device *);
int ec_eoedev_stop(struct net_device *);
int ec_eoedev_tx(struct sk_buff *, struct net_device *);
struct net_device_stats *ec_eoedev_stats(struct net_device *);
void ec_eoedev_rx(struct net_device *, const uint8_t *, size_t);
/*****************************************************************************/
/**
EoE constructor.
*/
int ec_eoe_init(ec_eoe_t *eoe, ec_slave_t *slave)
{
ec_eoe_t **priv;
int result;
eoe->slave = slave;
eoe->rx_state = EC_EOE_IDLE;
eoe->opened = 0;
eoe->skb = NULL;
INIT_LIST_HEAD(&eoe->tx_queue);
eoe->queued_frames = 0;
eoe->tx_queue_lock = SPIN_LOCK_UNLOCKED;
if (!(eoe->dev =
alloc_netdev(sizeof(ec_eoe_t *), "eoe%d", ec_eoedev_init))) {
EC_ERR("Unable to allocate net_device for EoE object!\n");
goto out_return;
}
// set EoE object reference
priv = netdev_priv(eoe->dev);
*priv = eoe;
// connect the net_device to the kernel
if ((result = register_netdev(eoe->dev))) {
EC_ERR("Unable to register net_device: error %i\n", result);
goto out_free;
}
return 0;
out_free:
free_netdev(eoe->dev);
eoe->dev = NULL;
out_return:
return -1;
}
/*****************************************************************************/
/**
EoE destructor.
*/
void ec_eoe_clear(ec_eoe_t *eoe)
{
if (eoe->dev) {
unregister_netdev(eoe->dev);
free_netdev(eoe->dev);
}
}
/*****************************************************************************/
/**
Runs the EoE state machine.
*/
void ec_eoe_run(ec_eoe_t *eoe)
{
uint8_t *data;
ec_master_t *master;
size_t rec_size;
uint8_t fragment_number, frame_number, last_fragment, time_appended;
uint8_t fragment_offset, frame_type;
if (!eoe->opened) return;
master = eoe->slave->master;
if (eoe->rx_state == EC_EOE_IDLE) {
ec_slave_mbox_prepare_check(eoe->slave);
ec_master_queue_command(master, &eoe->slave->mbox_command);
eoe->rx_state = EC_EOE_CHECKING;
return;
}
if (eoe->rx_state == EC_EOE_CHECKING) {
if (eoe->slave->mbox_command.state != EC_CMD_RECEIVED) {
master->stats.eoe_errors++;
eoe->rx_state = EC_EOE_IDLE;
return;
}
if (!ec_slave_mbox_check(eoe->slave)) {
eoe->rx_state = EC_EOE_IDLE;
return;
}
ec_slave_mbox_prepare_fetch(eoe->slave);
ec_master_queue_command(master, &eoe->slave->mbox_command);
eoe->rx_state = EC_EOE_FETCHING;
return;
}
if (eoe->rx_state == EC_EOE_FETCHING) {
if (eoe->slave->mbox_command.state != EC_CMD_RECEIVED) {
master->stats.eoe_errors++;
eoe->rx_state = EC_EOE_IDLE;
return;
}
if (!(data = ec_slave_mbox_fetch(eoe->slave, 0x02, &rec_size))) {
master->stats.eoe_errors++;
eoe->rx_state = EC_EOE_IDLE;
return;
}
frame_type = EC_READ_U16(data) & 0x000F;
if (frame_type == 0x00) { // EoE Fragment Request
last_fragment = (EC_READ_U16(data) >> 8) & 0x0001;
time_appended = (EC_READ_U16(data) >> 9) & 0x0001;
fragment_number = EC_READ_U16(data + 2) & 0x003F;
fragment_offset = (EC_READ_U16(data + 2) >> 6) & 0x003F;
frame_number = (EC_READ_U16(data + 2) >> 12) & 0x000F;
#if 0
EC_DBG("EOE fragment req received, fragment: %i, offset: %i,"
" frame %i%s%s, %i bytes\n", fragment_number,
fragment_offset, frame_number,
last_fragment ? ", last fragment" : "",
time_appended ? ", + timestamp" : "",
time_appended ? rec_size - 8 : rec_size - 4);
#if 0
EC_DBG("");
for (i = 0; i < rec_size - 4; i++) {
printk("%02X ", data[i + 4]);
if ((i + 1) % 16 == 0) {
printk("\n");
EC_DBG("");
}
}
printk("\n");
#endif
#endif
ec_eoedev_rx(eoe->dev, data + 4,
time_appended ? rec_size - 8 : rec_size - 4);
}
else {
#if 1
EC_DBG("other frame received.\n");
#endif
}
eoe->rx_state = EC_EOE_IDLE;
return;
}
}
/*****************************************************************************/
/**
Prints EoE object information.
*/
void ec_eoe_print(const ec_eoe_t *eoe)
{
EC_INFO(" EoE slave %i\n", eoe->slave->ring_position);
EC_INFO(" RX State %i\n", eoe->rx_state);
EC_INFO(" Assigned device: %s (%s)\n", eoe->dev->name,
eoe->opened ? "opened" : "closed");
}
/*****************************************************************************/
/**
Initializes a net_device structure for an EoE object.
*/
void ec_eoedev_init(struct net_device *dev /**< pointer to the net_device */)
{
ec_eoe_t *priv;
unsigned int i;
// initialize net_device
ether_setup(dev);
dev->open = ec_eoedev_open;
dev->stop = ec_eoedev_stop;
dev->hard_start_xmit = ec_eoedev_tx;
dev->get_stats = ec_eoedev_stats;
for (i = 0; i < 6; i++) dev->dev_addr[i] = (i + 1) | (i + 1) << 4;
// initialize private data
priv = netdev_priv(dev);
memset(priv, 0, sizeof(ec_eoe_t *));
}
/*****************************************************************************/
/**
Opens the virtual network device.
*/
int ec_eoedev_open(struct net_device *dev /**< EoE net_device */)
{
ec_eoe_t *eoe = *((ec_eoe_t **) netdev_priv(dev));
eoe->opened = 1;
netif_start_queue(dev);
EC_INFO("%s (slave %i) opened.\n", dev->name, eoe->slave->ring_position);
return 0;
}
/*****************************************************************************/
/**
Stops the virtual network device.
*/
int ec_eoedev_stop(struct net_device *dev /**< EoE net_device */)
{
ec_eoe_t *eoe = *((ec_eoe_t **) netdev_priv(dev));
netif_stop_queue(dev);
eoe->opened = 0;
EC_INFO("%s (slave %i) stopped.\n", dev->name, eoe->slave->ring_position);
return 0;
}
/*****************************************************************************/
/**
Transmits data via the virtual network device.
*/
int ec_eoedev_tx(struct sk_buff *skb, /**< transmit socket buffer */
struct net_device *dev /**< EoE net_device */
)
{
ec_eoe_t *eoe = *((ec_eoe_t **) netdev_priv(dev));
spin_lock_bh(&eoe->tx_queue_lock);
#if 0
eoe->stats.tx_packets++;
dev_kfree_skb(skb);
EC_INFO("EoE device sent %i octets.\n", skb->len);
#endif
if (eoe->queued_frames == EC_EOE_TX_QUEUE_SIZE)
netif_stop_queue(dev);
spin_unlock_bh(&eoe->tx_queue_lock);
return 0;
}
/*****************************************************************************/
/**
Receives data from the bus and passes it to the network stack.
*/
void ec_eoedev_rx(struct net_device *dev, /**< EoE net_device */
const uint8_t *data, /**< pointer to the data */
size_t size /**< size of the received data */
)
{
ec_eoe_t *eoe = *((ec_eoe_t **) netdev_priv(dev));
// allocate socket buffer
if (!(eoe->skb = dev_alloc_skb(size + 2))) {
if (printk_ratelimit())
EC_WARN("EoE RX: low on mem. frame dropped.\n");
eoe->stats.rx_dropped++;
return;
}
// copy received data to socket buffer
memcpy(skb_put(eoe->skb, size), data, size);
// set socket buffer fields
eoe->skb->dev = dev;
eoe->skb->protocol = eth_type_trans(eoe->skb, dev);
eoe->skb->ip_summed = CHECKSUM_UNNECESSARY;
// update statistics
eoe->stats.rx_packets++;
eoe->stats.rx_bytes += size;
// pass socket buffer to network stack
netif_rx(eoe->skb);
eoe->skb = NULL;
}
/*****************************************************************************/
/**
Gets statistics about the virtual network device.
*/
struct net_device_stats *ec_eoedev_stats(struct net_device *dev
/**< EoE net_device */)
{
ec_eoe_t *eoe = *((ec_eoe_t **) netdev_priv(dev));
return &eoe->stats;
}
/*****************************************************************************/
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