/** Debug interface constructor.
*
* Initializes the debug object, creates a net_device and registeres it.
*
* \retval 0 Success.
* \retval <0 Error code.
*/
int ec_debug_init(
ec_debug_t *dbg, /**< Debug object. */
ec_device_t *device, /**< EtherCAT device. */
const char *name /**< Interface name. */
)
{
dbg->device = device;
dbg->registered = 0;
dbg->opened = 0;
memset(&dbg->stats, 0, sizeof(struct net_device_stats));
if (!(dbg->dev =
alloc_netdev(sizeof(ec_debug_t *), name, ether_setup))) {
EC_MASTER_ERR(device->master, "Unable to allocate net_device"
" for debug object!\n");
return -ENODEV;
}
// initialize net_device
#if LINUX_VERSION_CODE >= KERNEL_VERSION(2, 6, 31)
dbg->dev->netdev_ops = &ec_dbg_netdev_ops;
#else
dbg->dev->open = ec_dbgdev_open;
dbg->dev->stop = ec_dbgdev_stop;
dbg->dev->hard_start_xmit = ec_dbgdev_tx;
dbg->dev->get_stats = ec_dbgdev_stats;
#endif
// initialize private data
*((ec_debug_t **) netdev_priv(dbg->dev)) = dbg;
return 0;
}
/** Initialize an RTDM device.
*
* \return Zero on success, otherwise a negative error code.
*/
int ec_rtdm_dev_init(
ec_rtdm_dev_t *rtdm_dev, /**< EtherCAT RTDM device. */
ec_master_t *master /**< EtherCAT master. */
)
{
int ret;
rtdm_dev->master = master;
rtdm_dev->dev = kzalloc(sizeof(struct rtdm_device), GFP_KERNEL);
if (!rtdm_dev->dev) {
EC_MASTER_ERR(master, "Failed to reserve memory for RTDM device.\n");
return -ENOMEM;
}
rtdm_dev->dev->struct_version = RTDM_DEVICE_STRUCT_VER;
rtdm_dev->dev->device_flags = RTDM_NAMED_DEVICE;
rtdm_dev->dev->context_size = sizeof(ec_rtdm_context_t);
snprintf(rtdm_dev->dev->device_name, RTDM_MAX_DEVNAME_LEN,
"EtherCAT%u", master->index);
rtdm_dev->dev->open_nrt = ec_rtdm_open;
rtdm_dev->dev->ops.close_nrt = ec_rtdm_close;
rtdm_dev->dev->ops.ioctl_rt = ec_rtdm_ioctl;
rtdm_dev->dev->ops.ioctl_nrt = ec_rtdm_ioctl;
rtdm_dev->dev->device_class = RTDM_CLASS_EXPERIMENTAL;
rtdm_dev->dev->device_sub_class = 222;
rtdm_dev->dev->driver_name = "EtherCAT";
rtdm_dev->dev->driver_version = RTDM_DRIVER_VER(1, 0, 2);
rtdm_dev->dev->peripheral_name = rtdm_dev->dev->device_name;
rtdm_dev->dev->provider_name = "EtherLab Community";
rtdm_dev->dev->proc_name = rtdm_dev->dev->device_name;
rtdm_dev->dev->device_data = rtdm_dev; /* pointer to parent */
EC_MASTER_INFO(master, "Registering RTDM device %s.\n",
rtdm_dev->dev->driver_name);
ret = rtdm_dev_register(rtdm_dev->dev);
if (ret) {
EC_MASTER_ERR(master, "Initialization of RTDM interface failed"
" (return value %i).\n", ret);
kfree(rtdm_dev->dev);
}
return ret;
}
