erika/nicdrv.c

Go to the documentation of this file.

/*
 * Licensed under the GNU General Public License version 2 with exceptions. See
 * LICENSE file in the project root for full license information
 */

#include <sys/time.h>
#include <time.h>
#include <sys/types.h>
#include <unistd.h>
#include <stdio.h>
#include <fcntl.h>
#include <string.h>
#include <assert.h>

#include "oshw.h"
#include "osal.h"
#include "nicdrv.h"
#include "ee.h"
#include "intel_i210.h"
#include "ee_x86_64_tsc.h"

enum
{
        ECT_RED_NONE,
        ECT_RED_DOUBLE
};


const uint16 priMAC[3] = { 0x0201, 0x0101, 0x0101 };
const uint16 secMAC[3] = { 0x0604, 0x0404, 0x0404 };

#define RX_PRIM priMAC[1]

#define RX_SEC secMAC[1]

void ee_port_lock(void);
void ee_port_unlock(void);

static inline void ecx_clear_rxbufstat(int *rxbufstat)
{
        int i;
        for(i = 0; i < EC_MAXBUF; i++)
                rxbufstat[i] = EC_BUF_EMPTY;
}

int ecx_setupnic(ecx_portt *port, const char *ifname, int secondary)
{
        int d;
        struct eth_device *dev;
        OSEE_PRINT("ecx_setupnic() searching %s...\n", ifname);

        for (d = 0;; ++d) {
                dev = eth_get_device(d);

                if (dev == NULL)
                        break; // ERROR: device not found

                if (!strncmp(dev->name, ifname, MAX_DEVICE_NAME)){
                        // Device found
                        int i;

                        eth_setup_device(d, 1, 100);
                        port->dev_id            = d;

                        port->sockhandle        = -1;
                        port->lastidx           = 0;
                        port->redstate          = ECT_RED_NONE;
                        port->stack.sock        = &(port->sockhandle);
                        port->stack.txbuf       = &(port->txbuf);
                        port->stack.txbuflength = &(port->txbuflength);
                        port->stack.tempbuf     = &(port->tempinbuf);
                        port->stack.rxbuf       = &(port->rxbuf);
                        port->stack.rxbufstat   = &(port->rxbufstat);
                        port->stack.rxsa        = &(port->rxsa);
                        ecx_clear_rxbufstat(&(port->rxbufstat[0]));

                        /* setup ethernet headers in tx buffers so we don't have to repeat it */
                        for (i = 0; i < EC_MAXBUF; i++)
                        {
                                ec_setupheader(&(port->txbuf[i]));
                                port->rxbufstat[i] = EC_BUF_EMPTY;
                        }
                        ec_setupheader(&(port->txbuf2));

                        break; // device found
                }
        }

        return (dev != NULL);
}

inline int ecx_closenic(ecx_portt *port)
{
        // Nothing to do
        return 0;
}

void ec_setupheader(void *p)
{
        ec_etherheadert *bp;
        bp = p;
        bp->da0 = oshw_htons(0xffff);
        bp->da1 = oshw_htons(0xffff);
        bp->da2 = oshw_htons(0xffff);
        bp->sa0 = oshw_htons(priMAC[0]);
        bp->sa1 = oshw_htons(priMAC[1]);
        bp->sa2 = oshw_htons(priMAC[2]);
        bp->etype = oshw_htons(ETH_P_ECAT);
}

int ecx_getindex(ecx_portt *port)
{
        int idx;
        int cnt = 0;

        ee_port_lock();

        idx = port->lastidx + 1;
        /* index can't be larger than buffer array */
        if (idx >= EC_MAXBUF)
                idx = 0;

        /* try to find unused index */
        while ((port->rxbufstat[idx] != EC_BUF_EMPTY) && (cnt < EC_MAXBUF)) {
                idx++;
                cnt++;
                if (idx >= EC_MAXBUF)
                        idx = 0;
        }
        port->rxbufstat[idx] = EC_BUF_ALLOC;
        if (port->redstate != ECT_RED_NONE)
                port->redport->rxbufstat[idx] = EC_BUF_ALLOC;
        port->lastidx = idx;

        ee_port_unlock();

        return idx;
}

void ecx_setbufstat(ecx_portt *port, int idx, int bufstat)
{
        port->rxbufstat[idx] = bufstat;
        if (port->redstate != ECT_RED_NONE)
                port->redport->rxbufstat[idx] = bufstat;
}

int ecx_outframe(ecx_portt *port, int idx, int stacknumber)
{
        int lp;
        ec_stackT *stack;

        if (!stacknumber)
                stack = &(port->stack);
        else
                stack = &(port->redport->stack);
        lp = (*stack->txbuflength)[idx];
        (*stack->rxbufstat)[idx] = EC_BUF_TX;

        eth_send_packet(port->dev_id, (*stack->txbuf)[idx], lp, 1);

        return 1;
}

int ecx_outframe_red(ecx_portt *port, int idx)
{
        ec_comt *datagramP;
        ec_etherheadert *ehp;
        int rval;

        ehp = (ec_etherheadert *)&(port->txbuf[idx]);
        /* rewrite MAC source address 1 to primary */
        ehp->sa1 = oshw_htons(priMAC[1]);
        /* transmit over primary socket*/
        rval = ecx_outframe(port, idx, 0);
        if (port->redstate != ECT_RED_NONE) {
                ee_port_lock();
                ehp = (ec_etherheadert *)&(port->txbuf2);
                /* use dummy frame for secondary socket transmit (BRD) */
                datagramP = (ec_comt*)&(port->txbuf2[ETH_HEADERSIZE]);
                /* write index to frame */
                datagramP->index = idx;
                /* rewrite MAC source address 1 to secondary */
                ehp->sa1 = oshw_htons(secMAC[1]);
                /* transmit over secondary socket */
                port->redport->rxbufstat[idx] = EC_BUF_TX;
                eth_send_packet(port->dev_id, &(port->txbuf2), port->txbuflength2, 1);
                ee_port_unlock();
        }

        return rval;
}

static int ecx_recvpkt(ecx_portt *port, int stacknumber)
{
        int lp, bytesrx;
        ec_stackT *stack;

        if (!stacknumber)
                stack = &(port->stack);
        else
                stack = &(port->redport->stack);
        lp = sizeof(port->tempinbuf);
        bytesrx = eth_receive_packet(port->dev_id, (*stack->tempbuf), lp, 1, 0);
        port->tempinbufs = bytesrx;

        return (bytesrx > 0);
}

int ecx_inframe(ecx_portt *port, int idx, int stacknumber)
{
        uint16  l;
        int     rval;
        int     idxf;
        ec_etherheadert *ehp;
        ec_comt *ecp;
        ec_stackT *stack;
        ec_bufT *rxbuf;

        if (!stacknumber)
                stack = &(port->stack);
        else
                stack = &(port->redport->stack);
        rval = EC_NOFRAME;
        rxbuf = &(*stack->rxbuf)[idx];
        /* check if requested index is already in buffer ? */
        if ((idx < EC_MAXBUF) && ((*stack->rxbufstat)[idx] == EC_BUF_RCVD)) {
                l = (*rxbuf)[0] + ((uint16)((*rxbuf)[1] & 0x0f) << 8);
                /* return WKC */
                rval = ((*rxbuf)[l] + ((uint16)(*rxbuf)[l + 1] << 8));
                /* mark as completed */
                (*stack->rxbufstat)[idx] = EC_BUF_COMPLETE;
        } else {
                ee_port_lock();
                /* non blocking call to retrieve frame from socket */


                while (1) {
                        if (ecx_recvpkt(port, stacknumber)) {
                                rval = EC_OTHERFRAME;
                                ehp =(ec_etherheadert*)(stack->tempbuf);
                                /* check if it is an EtherCAT frame */
                                if (ehp->etype == oshw_htons(ETH_P_ECAT)) {
                                        ecp =(ec_comt*)(&(*stack->tempbuf)[ETH_HEADERSIZE]);
                                        l = etohs(ecp->elength) & 0x0fff;
                                        idxf = ecp->index;
                                        /* found index equals requested index ? */
                                        if (idxf == idx) {
                                                /* yes, put it in the buffer array (strip ethernet header) */
                                                memcpy(rxbuf, &(*stack->tempbuf)[ETH_HEADERSIZE], (*stack->txbuflength)[idx] - ETH_HEADERSIZE);
                                                /* return WKC */
                                                rval = ((*rxbuf)[l] + ((uint16)((*rxbuf)[l + 1]) << 8));
                                                /* mark as completed */
                                                (*stack->rxbufstat)[idx] = EC_BUF_COMPLETE;
                                                /* store MAC source word 1 for redundant routing info */
                                                (*stack->rxsa)[idx] = oshw_ntohs(ehp->sa1);
                                                break;
                                        } else if (idxf < EC_MAXBUF && (*stack->rxbufstat)[idxf] == EC_BUF_TX) {
                                                rxbuf = &(*stack->rxbuf)[idxf];
                                                /* put it in the buffer array (strip ethernet header) */
                                                memcpy(rxbuf, &(*stack->tempbuf)[ETH_HEADERSIZE], (*stack->txbuflength)[idxf] - ETH_HEADERSIZE);
                                                /* mark as received */
                                                (*stack->rxbufstat)[idxf] = EC_BUF_RCVD;
                                                (*stack->rxsa)[idxf] = oshw_ntohs(ehp->sa1);
                                                break;
                                        } else {
                                                OSEE_PRINT("ecx_inframe(): WARNING: strange things happened\n");
                                                /* strange things happened */
                                        }
                                } else {
                                        OSEE_PRINT("ecx_inframe(): WARNING it is NOT an EtherCAT frame!\n");
                                }
                        } else {
                                // WARNING: no messages received.
                                break;
                        }
                }

                ee_port_unlock();

        }

        /* WKC if matching frame found */
        return rval;
}

static int ecx_waitinframe_red(ecx_portt *port, int idx, osal_timert *timer)
{
        osal_timert timer2;
        int wkc  = EC_NOFRAME;
        int wkc2 = EC_NOFRAME;
        int primrx, secrx;

        /* if not in redundant mode then always assume secondary is OK */
        if (port->redstate == ECT_RED_NONE)
                wkc2 = 0;
        do {
                /* only read frame if not already in */
                if (wkc <= EC_NOFRAME)
                        wkc  = ecx_inframe(port, idx, 0);
                /* only try secondary if in redundant mode */
                if (port->redstate != ECT_RED_NONE) {
                        /* only read frame if not already in */
                        if (wkc2 <= EC_NOFRAME)
                                wkc2 = ecx_inframe(port, idx, 1);
                }
                /* wait for both frames to arrive or timeout */
        } while (((wkc <= EC_NOFRAME) || (wkc2 <= EC_NOFRAME)) && !osal_timer_is_expired(timer));
        /* only do redundant functions when in redundant mode */
        if (port->redstate != ECT_RED_NONE) {
                /* primrx if the received MAC source on primary socket */
                primrx = 0;
                if (wkc > EC_NOFRAME) primrx = port->rxsa[idx];
                /* secrx if the received MAC source on psecondary socket */
                secrx = 0;
                if (wkc2 > EC_NOFRAME) secrx = port->redport->rxsa[idx];

                /* primary socket got secondary frame and secondary socket got primary frame */
                /* normal situation in redundant mode */
                if ( ((primrx == RX_SEC) && (secrx == RX_PRIM)) ) {
                        /* copy secondary buffer to primary */
                        memcpy(&(port->rxbuf[idx]), &(port->redport->rxbuf[idx]), port->txbuflength[idx] - ETH_HEADERSIZE);
                        wkc = wkc2;
                }
                /* primary socket got nothing or primary frame, and secondary socket got secondary frame */
                /* we need to resend TX packet */
                if ( ((primrx == 0) && (secrx == RX_SEC)) ||
                                ((primrx == RX_PRIM) && (secrx == RX_SEC)) ) {
                        /* If both primary and secondary have partial connection retransmit the primary received
                         * frame over the secondary socket. The result from the secondary received frame is a combined
                         * frame that traversed all slaves in standard order. */
                        if ( (primrx == RX_PRIM) && (secrx == RX_SEC) ) {
                                /* copy primary rx to tx buffer */
                                memcpy(&(port->txbuf[idx][ETH_HEADERSIZE]), &(port->rxbuf[idx]), port->txbuflength[idx] - ETH_HEADERSIZE);
                        }
                        osal_timer_start (&timer2, EC_TIMEOUTRET);
                        /* resend secondary tx */
                        ecx_outframe(port, idx, 1);
                        do {
                                /* retrieve frame */
                                wkc2 = ecx_inframe(port, idx, 1);
                        } while ((wkc2 <= EC_NOFRAME) && !osal_timer_is_expired(&timer2));
                        if (wkc2 > EC_NOFRAME) {
                                /* copy secondary result to primary rx buffer */
                                memcpy(&(port->rxbuf[idx]), &(port->redport->rxbuf[idx]), port->txbuflength[idx] - ETH_HEADERSIZE);
                                wkc = wkc2;
                        }
                }
        }

        /* return WKC or EC_NOFRAME */
        return wkc;
}

int ecx_waitinframe(ecx_portt *port, int idx, int timeout)
{
        int wkc;
        osal_timert timer;

        osal_timer_start (&timer, timeout);
        wkc = ecx_waitinframe_red(port, idx, &timer);

        return wkc;
}

int ecx_srconfirm(ecx_portt *port, int idx, int timeout)
{
        int wkc = EC_NOFRAME;
        osal_timert timer1, timer2;

        osal_timer_start (&timer1, timeout);
        do  {
                /* tx frame on primary and if in redundant mode a dummy on secondary */
                ecx_outframe_red(port, idx);
                if (timeout < EC_TIMEOUTRET) {
                        osal_timer_start (&timer2, timeout);
                } else {
                        /* normally use partial timeout for rx */
                        osal_timer_start (&timer2, EC_TIMEOUTRET);
                }
                /* get frame from primary or if in redundant mode possibly
                   from secondary */
                wkc = ecx_waitinframe_red(port, idx, &timer2);
                /* wait for answer with WKC>=0 or otherwise retry until timeout */
        } while ((wkc <= EC_NOFRAME) && !osal_timer_is_expired (&timer1));


        return wkc;
}


#ifdef EC_VER1
int ec_setupnic(const char *ifname, int secondary)
{
   return ecx_setupnic(&ecx_port, ifname, secondary);
}

int ec_closenic(void)
{
   return ecx_closenic(&ecx_port);
}

int ec_getindex(void)
{
   return ecx_getindex(&ecx_port);
}

void ec_setbufstat(int idx, int bufstat)
{
   ecx_setbufstat(&ecx_port, idx, bufstat);
}

int ec_outframe(int idx, int stacknumber)
{
   return ecx_outframe(&ecx_port, idx, stacknumber);
}

int ec_outframe_red(int idx)
{
   return ecx_outframe_red(&ecx_port, idx);
}

int ec_inframe(int idx, int stacknumber)
{
   return ecx_inframe(&ecx_port, idx, stacknumber);
}

int ec_waitinframe(int idx, int timeout)
{
   return ecx_waitinframe(&ecx_port, idx, timeout);
}

int ec_srconfirm(int idx, int timeout)
{
   return ecx_srconfirm(&ecx_port, idx, timeout);
}
#endif