37 #include <linux/version.h>
38 #include <linux/netdevice.h>
39 #include <linux/etherdevice.h>
56 #define EOE_DEBUG_LEVEL 1
60 #define EC_EOE_TX_QUEUE_SIZE 100
64 #define EC_EOE_TRIES 100
85 #if LINUX_VERSION_CODE >= KERNEL_VERSION(2, 6, 29)
129 memset(&eoe->
stats, 0,
sizeof(
struct net_device_stats));
151 #if LINUX_VERSION_CODE >= KERNEL_VERSION(3, 17, 0)
152 eoe->
dev = alloc_netdev(
sizeof(
ec_eoe_t *), name, NET_NAME_UNKNOWN,
155 eoe->
dev = alloc_netdev(
sizeof(
ec_eoe_t *), name, ether_setup);
159 " for EoE handler!\n", name);
165 #if LINUX_VERSION_CODE >= KERNEL_VERSION(2, 6, 29)
174 for (i = 0; i < ETH_ALEN; i++)
175 eoe->
dev->dev_addr[i] = i | (i << 4);
178 priv = netdev_priv(eoe->
dev);
190 ret = register_netdev(eoe->
dev);
198 eoe->
dev->dev_addr[ETH_ALEN - 1] = (uint8_t) eoe->
dev->ifindex;
202 free_netdev(eoe->
dev);
216 unregister_netdev(eoe->
dev);
227 dev_kfree_skb(eoe->
rx_skb);
229 free_netdev(eoe->
dev);
244 list_for_each_entry_safe(frame, next, &eoe->
tx_queue, queue) {
245 list_del(&frame->
queue);
246 dev_kfree_skb(frame->
skb);
262 size_t remaining_size, current_size, complete_offset;
263 unsigned int last_fragment;
265 #if EOE_DEBUG_LEVEL >= 3
271 if (remaining_size <= eoe->slave->configured_tx_mailbox_size - 10) {
272 current_size = remaining_size;
284 complete_offset = remaining_size / 32 + 1;
287 #if EOE_DEBUG_LEVEL >= 2
288 EC_SLAVE_DBG(slave, 0,
"EoE %s TX sending fragment %u%s"
289 " with %u octets (%u). %u frames queued.\n",
291 last_fragment ?
"" :
"+", current_size, complete_offset,
295 #if EOE_DEBUG_LEVEL >= 3
297 for (i = 0; i < current_size; i++) {
299 if ((i + 1) % 16 == 0) {
308 0x02, current_size + 4);
310 return PTR_ERR(data);
315 (complete_offset & 0x3F) << 6 |
424 eoe->
stats.rx_errors++;
425 #if EOE_DEBUG_LEVEL >= 1
427 " check datagram for %s.\n", eoe->
dev->name);
454 size_t rec_size, data_size;
455 uint8_t *data, frame_type, last_fragment, time_appended, mbox_prot;
456 uint8_t fragment_offset, fragment_number;
457 #if EOE_DEBUG_LEVEL >= 2
458 uint8_t frame_number;
461 #if EOE_DEBUG_LEVEL >= 3
466 eoe->
stats.rx_errors++;
467 #if EOE_DEBUG_LEVEL >= 1
469 " fetch datagram for %s.\n", eoe->
dev->name);
476 &mbox_prot, &rec_size);
478 eoe->
stats.rx_errors++;
479 #if EOE_DEBUG_LEVEL >= 1
487 if (mbox_prot != 0x02) {
488 eoe->
stats.rx_errors++;
489 #if EOE_DEBUG_LEVEL >= 1
499 if (frame_type != 0x00) {
500 #if EOE_DEBUG_LEVEL >= 1
502 " Dropping.\n", eoe->
dev->name);
504 eoe->
stats.rx_dropped++;
514 fragment_offset = (
EC_READ_U16(data + 2) >> 6) & 0x003F;
515 #if EOE_DEBUG_LEVEL >= 2
516 frame_number = (
EC_READ_U16(data + 2) >> 12) & 0x000F;
519 #if EOE_DEBUG_LEVEL >= 2
521 " frame %u%s, %u octets\n", eoe->
dev->name, fragment_number,
522 last_fragment ?
"" :
"+", fragment_offset, frame_number,
523 time_appended ?
", + timestamp" :
"",
524 time_appended ? rec_size - 8 : rec_size - 4);
527 #if EOE_DEBUG_LEVEL >= 3
529 for (i = 0; i < rec_size - 4; i++) {
530 printk(
"%02X ", data[i + 4]);
531 if ((i + 1) % 16 == 0) {
539 data_size = time_appended ? rec_size - 8 : rec_size - 4;
541 if (!fragment_number) {
544 dev_kfree_skb(eoe->
rx_skb);
548 if (!(eoe->
rx_skb = dev_alloc_skb(fragment_offset * 32))) {
549 if (printk_ratelimit())
551 " frame dropped.\n");
552 eoe->
stats.rx_dropped++;
563 eoe->
stats.rx_dropped++;
568 offset = fragment_offset * 32;
572 dev_kfree_skb(eoe->
rx_skb);
574 eoe->
stats.rx_errors++;
575 #if EOE_DEBUG_LEVEL >= 1
585 memcpy(skb_put(eoe->
rx_skb, data_size), data + 4, data_size);
590 eoe->
stats.rx_packets++;
594 #if EOE_DEBUG_LEVEL >= 2
596 " with %u octets.\n", eoe->
dev->name, eoe->
rx_skb->len);
602 eoe->
rx_skb->ip_summed = CHECKSUM_UNNECESSARY;
603 if (netif_rx(eoe->
rx_skb)) {
612 #if EOE_DEBUG_LEVEL >= 2
631 #if EOE_DEBUG_LEVEL >= 2
632 unsigned int wakeup = 0;
658 netif_wake_queue(eoe->
dev);
660 #if EOE_DEBUG_LEVEL >= 2
679 eoe->
stats.tx_errors++;
681 #if EOE_DEBUG_LEVEL >= 1
687 #if EOE_DEBUG_LEVEL >= 2
711 eoe->
stats.tx_errors++;
712 #if EOE_DEBUG_LEVEL >= 1
714 " datagram for %s after %u tries.\n",
727 eoe->
stats.tx_errors++;
728 #if EOE_DEBUG_LEVEL >= 1
730 " for %s after %u tries.\n",
740 eoe->
stats.tx_packets++;
753 eoe->
stats.tx_errors++;
754 #if EOE_DEBUG_LEVEL >= 1
777 netif_start_queue(dev);
779 #if EOE_DEBUG_LEVEL >= 2
795 netif_stop_queue(dev);
801 #if EOE_DEBUG_LEVEL >= 2
815 struct net_device *dev
824 " exceeds MTU. dropping.\n", skb->len);
826 eoe->
stats.tx_dropped++;
833 if (printk_ratelimit())
844 netif_stop_queue(dev);
849 #if EOE_DEBUG_LEVEL >= 2
851 " with %u octets (%u frames queued).\n",
867 struct net_device *dev
void ec_eoe_queue(ec_eoe_t *eoe)
Queues the datagram, if necessary.
uint8_t * ec_slave_mbox_prepare_send(const ec_slave_t *slave, ec_datagram_t *datagram, uint8_t type, size_t size)
Prepares a mailbox-send datagram.
uint16_t ring_position
Ring position.
#define EC_DATAGRAM_NAME_SIZE
Size of the datagram description string.
uint32_t tx_counter
octets transmitted during last second
#define EC_EOE_TX_QUEUE_SIZE
Size of the EoE tx queue.
uint8_t * ec_slave_mbox_fetch(const ec_slave_t *slave, const ec_datagram_t *datagram, uint8_t *type, size_t *size)
Processes received mailbox data.
static const struct net_device_ops ec_eoedev_ops
Device operations for EoE interfaces.
struct sk_buff * skb
socket buffer
uint16_t configured_tx_mailbox_size
Configured send mailbox size.
void ec_eoe_state_rx_fetch(ec_eoe_t *)
State: RX_FETCH.
struct list_head tx_queue
queue for frames to send
#define EC_SLAVE_DBG(slave, level, fmt, args...)
Convenience macro for printing slave-specific debug messages to syslog.
uint8_t tx_fragment_number
number of the fragment
int ec_eoe_send(ec_eoe_t *eoe)
Sends a frame or the next fragment.
ec_slave_t * slave
pointer to the corresponding slave
void ec_master_queue_datagram_ext(ec_master_t *master, ec_datagram_t *datagram)
Places a datagram in the non-application datagram queue.
OP (mailbox communication and input/output update)
unsigned int tx_queue_size
Transmit queue size.
size_t rx_skb_size
size of the allocated socket buffer memory
size_t tx_offset
number of octets sent
EtherCAT slave structure.
int ec_slave_mbox_prepare_fetch(const ec_slave_t *slave, ec_datagram_t *datagram)
Prepares a datagram to fetch mailbox data.
void ec_eoe_state_tx_start(ec_eoe_t *)
State: TX START.
#define EC_SLAVE_WARN(slave, fmt, args...)
Convenience macro for printing slave-specific warnings to syslog.
#define EC_WRITE_U8(DATA, VAL)
Write an 8-bit unsigned value to EtherCAT data.
void ec_eoe_state_rx_check(ec_eoe_t *)
State: RX_CHECK.
unsigned int tx_queue_active
kernel netif queue started
char name[EC_DATAGRAM_NAME_SIZE]
Description of the datagram.
uint16_t working_counter
Working counter.
int ec_eoe_init(ec_eoe_t *eoe, ec_slave_t *slave)
EoE constructor.
uint8_t link_state
device link state
#define EC_EOE_TRIES
Number of tries.
Sent (still in the queue).
void ec_eoe_flush(ec_eoe_t *)
Empties the transmit queue.
uint32_t tx_rate
transmit rate (bps)
void ec_datagram_output_stats(ec_datagram_t *datagram)
Outputs datagram statistics at most every second.
Global definitions and macros.
uint8_t rx_expected_fragment
next expected fragment number
void(* state)(ec_eoe_t *)
state function for the state machine
EtherCAT master structure.
void ec_eoe_state_rx_start(ec_eoe_t *)
State: RX_START.
Ethernet over EtherCAT (EoE)
ec_datagram_state_t state
State.
int ec_eoe_is_idle(const ec_eoe_t *eoe)
Returns the idle state.
#define EC_SLAVE_ERR(slave, fmt, args...)
Convenience macro for printing slave-specific errors to syslog.
unsigned long rate_jiffies
time of last rate output
#define EC_WRITE_U16(DATA, VAL)
Write a 16-bit unsigned value to EtherCAT data.
int ec_eoedev_tx(struct sk_buff *, struct net_device *)
Transmits data via the virtual network device.
ec_master_t * master
Master owning the slave.
struct list_head queue
list item
void ec_eoe_state_tx_sent(ec_eoe_t *)
State: TX SENT.
unsigned int opened
net_device is opened
off_t rx_skb_offset
current write pointer in the socket buffer
ec_datagram_t datagram
datagram
struct net_device_stats stats
device statistics
uint16_t effective_alias
Effective alias address.
int ec_slave_mbox_prepare_check(const ec_slave_t *slave, ec_datagram_t *datagram)
Prepares a datagram for checking the mailbox state.
unsigned int tx_idle
Idle flag.
#define EC_READ_U16(DATA)
Read a 16-bit unsigned value from EtherCAT data.
uint32_t rx_rate
receive rate (bps)
struct sk_buff * rx_skb
current rx socket buffer
void ec_datagram_init(ec_datagram_t *datagram)
Constructor.
uint8_t tx_frame_number
number of the transmitted frame
uint32_t rx_counter
octets received during last second
void ec_slave_request_state(ec_slave_t *slave, ec_slave_state_t state)
Request a slave state and resets the error flag.
uint16_t configured_rx_mailbox_size
Configured receive mailbox size.
int ec_eoedev_open(struct net_device *)
Opens the virtual network device.
struct semaphore tx_queue_sem
Semaphore for the send queue.
ec_eoe_frame_t * tx_frame
current TX frame
void ec_eoe_run(ec_eoe_t *eoe)
Runs the EoE state machine.
int ec_eoedev_stop(struct net_device *)
Stops the virtual network device.
void ec_eoe_clear(ec_eoe_t *eoe)
EoE destructor.
PREOP state (mailbox communication, no IO)
Ethernet over EtherCAT (EoE) handler.
unsigned int error_flag
Stop processing after an error.
unsigned int rx_idle
Idle flag.
ec_device_t devices[EC_MAX_NUM_DEVICES]
EtherCAT devices.
struct net_device_stats * ec_eoedev_stats(struct net_device *)
Gets statistics about the virtual network device.
int ec_eoe_is_open(const ec_eoe_t *eoe)
Returns the state of the device.
int ec_slave_mbox_check(const ec_datagram_t *datagram)
Processes a mailbox state checking datagram.
struct net_device * dev
net_device for virtual ethernet device
unsigned int queue_datagram
the datagram is ready for queuing
unsigned int tx_queued_frames
number of frames in the queue
void ec_datagram_clear(ec_datagram_t *datagram)
Destructor.