//---------------------------------------------------------------------------
//
// Function: EplLinExit
//
// Description: Exit point of kernel module
////
//
// Parameters: N/A
//
//
// Returns: Return code
//
//---------------------------------------------------------------------------
static void __exit EplLinExit (void)
{
tEplKernel EplRet;
// halt the NMT state machine
// so the processing of POWERLINK frames stops
EplRet = EplApiExecNmtCommand(kEplNmtEventSwitchOff);
// wait until NMT state machine is shut down
wait_event_interruptible(WaitQueueShutdown_g,
(atomic_read(&AtomicShutdown_g) == TRUE));
/* if ((iErr != 0) || (atomic_read(&AtomicShutdown_g) == EVENT_STATE_IOCTL))
{ // waiting was interrupted by signal or application called wrong function
EplRet = kEplShutdown;
}*/
// Free resources used by the process image API
EplRet = EplApiProcessImageFree();
// delete instance for all modules
EplRet = EplApiShutdown();
PRINTF("EplApiShutdown(): 0x%X\n", EplRet);
// deinitialize proc fs
EplRet = EplLinProcFree();
PRINTF("EplLinProcFree(): 0x%X\n", EplRet);
if (IS_FD_VALID(hAppFdTracingEnabled_g))
{
close(hAppFdTracingEnabled_g);
}
}
static void __exit EplLinExit(void)
{
tEplKernel EplRet;
// delete instance for all modules
// EplRet = EplApiShutdown();
// printk("EplApiShutdown(): 0x%X\n", EplRet);
// deinitialize proc fs
EplRet = EplLinProcFree();
printk("EplLinProcFree(): 0x%X\n", EplRet);
TRACE0("EPL: + EplLinExit...\n");
// remove cdev structure
cdev_del(pEpl_cdev_g);
// unregister character device handler
unregister_chrdev_region(nDevNum_g, 1);
TRACE1("EPL: Driver '%s' removed.\n", EPLLIN_DRV_NAME);
TRACE0("EPL: - EplLinExit\n");
}
static void __exit EplLinExit (void)
{
tEplKernel EplRet;
TRACE0("EPL: + EplLinExit...\n");
// deinitialize proc fs
EplRet = EplLinProcFree();
TRACE1("EplLinProcFree(): 0x%X\n", EplRet);
// deregister misc device
misc_deregister(&EplLinMiscDevice_g);
TRACE1("EPL: Driver '%s' removed.\n", EPLLIN_DRV_NAME);
TRACE0("EPL: - EplLinExit\n");
}
static void __exit EplLinExit(void)
{
tEplKernel EplRet;
// delete instance for all modules
// EplRet = EplApiShutdown();
// printk("EplApiShutdown(): 0x%X\n", EplRet);
// deinitialize proc fs
EplRet = EplLinProcFree();
printk("EplLinProcFree(): 0x%X\n", EplRet);
TRACE0("EPL: + EplLinExit...\n");
#ifdef CONFIG_DEVFS_FS
// remove device node from DEVFS
devfs_remove(EPLLIN_DEV_NAME);
TRACE1("EPL: Device node '/dev/%s' removed.\n", EPLLIN_DEV_NAME);
// unregister character device handler
unregister_chrdev(nDrvMajorNumber_g, EPLLIN_DRV_NAME);
#else
// remove cdev structure
cdev_del(pEpl_cdev_g);
// unregister character device handler
unregister_chrdev_region(nDevNum_g, 1);
#endif
TRACE1("EPL: Driver '%s' removed.\n", EPLLIN_DRV_NAME);
TRACE0("EPL: - EplLinExit\n");
}
//---------------------------------------------------------------------------
//
// Function: EplLinInit
//
// Description: Entry point of kernel module
////
//
// Parameters: N/A
//
//
// Returns: Return code
//
//---------------------------------------------------------------------------
static int __init EplLinInit (void)
{
tEplKernel EplRet;
static tEplApiInitParam EplApiInitParam = {0};
char* sHostname = HOSTNAME;
BOOL fApiInit = FALSE;
BOOL fLinProcInit =FALSE;
atomic_set(&AtomicShutdown_g, TRUE);
// open character device from debugfs to disable tracing when necessary
hAppFdTracingEnabled_g = open("/sys/kernel/debug/tracing/tracing_enabled", O_WRONLY, 0666);
// get node ID from insmod command line
EplApiInitParam.m_uiNodeId = uiNodeId_g;
if (EplApiInitParam.m_uiNodeId == EPL_C_ADR_INVALID)
{ // invalid node ID set
// set default node ID
EplApiInitParam.m_uiNodeId = NODEID;
}
uiNodeId_g = EplApiInitParam.m_uiNodeId;
// calculate IP address
EplApiInitParam.m_dwIpAddress = (0xFFFFFF00 & IP_ADDR) | EplApiInitParam.m_uiNodeId;
EplApiInitParam.m_fAsyncOnly = FALSE;
EplApiInitParam.m_uiSizeOfStruct = sizeof (EplApiInitParam);
EPL_MEMCPY(EplApiInitParam.m_abMacAddress, abMacAddr, sizeof (EplApiInitParam.m_abMacAddress));
EplApiInitParam.m_dwFeatureFlags = (DWORD) ~0UL;
EplApiInitParam.m_dwCycleLen = uiCycleLen_g; // required for error detection
EplApiInitParam.m_uiIsochrTxMaxPayload = 100; // const
EplApiInitParam.m_uiIsochrRxMaxPayload = 100; // const
EplApiInitParam.m_dwPresMaxLatency = 50000; // const; only required for IdentRes
EplApiInitParam.m_uiPreqActPayloadLimit = 36; // required for initialisation (+28 bytes)
EplApiInitParam.m_uiPresActPayloadLimit = 36; // required for initialisation of Pres frame (+28 bytes)
EplApiInitParam.m_dwAsndMaxLatency = 150000; // const; only required for IdentRes
EplApiInitParam.m_uiMultiplCycleCnt = 0; // required for error detection
EplApiInitParam.m_uiAsyncMtu = 1500; // required to set up max frame size
EplApiInitParam.m_uiPrescaler = 2; // required for sync
EplApiInitParam.m_dwLossOfFrameTolerance = 500000;
EplApiInitParam.m_dwAsyncSlotTimeout = 3000000;
EplApiInitParam.m_dwWaitSocPreq = 150000;
EplApiInitParam.m_dwDeviceType = (DWORD) ~0UL; // NMT_DeviceType_U32
EplApiInitParam.m_dwVendorId = (DWORD) ~0UL; // NMT_IdentityObject_REC.VendorId_U32
EplApiInitParam.m_dwProductCode = (DWORD) ~0UL; // NMT_IdentityObject_REC.ProductCode_U32
EplApiInitParam.m_dwRevisionNumber = (DWORD) ~0UL; // NMT_IdentityObject_REC.RevisionNo_U32
EplApiInitParam.m_dwSerialNumber = (DWORD) ~0UL; // NMT_IdentityObject_REC.SerialNo_U32
EplApiInitParam.m_dwSubnetMask = SUBNET_MASK;
EplApiInitParam.m_dwDefaultGateway = 0;
EPL_MEMCPY(EplApiInitParam.m_sHostname, sHostname, sizeof(EplApiInitParam.m_sHostname));
EplApiInitParam.m_uiSyncNodeId = EPL_C_ADR_SYNC_ON_SOA;
EplApiInitParam.m_fSyncOnPrcNode = FALSE;
// set callback functions
EplApiInitParam.m_pfnCbEvent = AppCbEvent;
EplApiInitParam.m_pfnCbSync = AppCbSync;
EplApiInitParam.m_pfnObdInitRam = EplObdInitRam;
printk("\n\n Hello, I'm a simple POWERLINK node running as %s!\n (build: %s / %s)\n\n",
(uiNodeId_g == EPL_C_ADR_MN_DEF_NODE_ID ?
"Managing Node" : "Controlled Node"),
__DATE__, __TIME__);
// initialize the Linux a wait queue for shutdown of this module
init_waitqueue_head(&WaitQueueShutdown_g);
// initialize the procfs device
EplRet = EplLinProcInit();
if (EplRet != kEplSuccessful)
{
PRINTF("EplLinProcInit failed!\n");
goto Exit;
}
fLinProcInit = TRUE;
// initialize POWERLINK stack
EplRet = EplApiInitialize(&EplApiInitParam);
if(EplRet != kEplSuccessful)
{
PRINTF("EplApiInitialize failed!\n");
goto Exit;
}
fApiInit = TRUE;
EplRet = EplApiSetCdcFilename(pszCdcFilename_g);
if(EplRet != kEplSuccessful)
{
goto Exit;
}
PRINTF("Initializing process image...\n");
PRINTF("Size of input process image: %ld\n", sizeof(AppProcessImageIn_g));
PRINTF("Size of output process image: %ld\n", sizeof (AppProcessImageOut_g));
AppProcessImageCopyJob_g.m_fNonBlocking = FALSE;
AppProcessImageCopyJob_g.m_uiPriority = 0;
AppProcessImageCopyJob_g.m_In.m_pPart = &AppProcessImageIn_g;
AppProcessImageCopyJob_g.m_In.m_uiOffset = 0;
AppProcessImageCopyJob_g.m_In.m_uiSize = sizeof (AppProcessImageIn_g);
AppProcessImageCopyJob_g.m_Out.m_pPart = &AppProcessImageOut_g;
AppProcessImageCopyJob_g.m_Out.m_uiOffset = 0;
AppProcessImageCopyJob_g.m_Out.m_uiSize = sizeof (AppProcessImageOut_g);
EplRet = EplApiProcessImageAlloc(sizeof (AppProcessImageIn_g), sizeof (AppProcessImageOut_g), 2, 2);
if (EplRet != kEplSuccessful)
{
goto Exit;
}
EplRet = EplApiProcessImageSetup();
if (EplRet != kEplSuccessful)
{
goto Exit;
}
// start the NMT state machine
EplRet = EplApiExecNmtCommand(kEplNmtEventSwReset);
atomic_set(&AtomicShutdown_g, FALSE);
Exit:
PRINTF("EplLinInit(): returns 0x%X\n", EplRet);
if (EplRet != kEplSuccessful)
{
if (fApiInit != FALSE)
{
EplApiShutdown();
}
if (fLinProcInit != FALSE)
{
EplLinProcFree();
}
return -ENODEV;
}
else
{
return 0;
}
}
