mirror of
https://gitlab.com/etherlab.org/ethercat.git
synced 2026-08-18 00:57:23 +08:00
Danila Dergachev
a40c85c03a
Native EtherCAT device driver for the Raspberry Pi 5 on-RP1 gigabit MAC (Cadence GEM, "macb"), ported from the genet recipe. Lets the IgH kernel master poll-drive the NIC directly instead of via the generic driver. Derived from the in-tree macb driver at Linux 6.18.33 (drivers/net/ethernet/cadence: macb_main.c, macb.h, macb_ptp.c); the -orig files are verbatim, the -ethercat files add the ecdev hooks (ecdev_offer/open/close/withdraw, ec_poll, gem_rx -> ecdev_receive, a persistent TX skb ring, IRQ/NAPI/PTP gated by get_ecdev()). macb-specific points vs the genet recipe: - ecdev_offer() before macb_init() (macb requests its IRQs there). - phylink (not MDIO adjust_link); phylink_start/stop wrapped in rtnl_lock in EtherCAT mode (ecdev_open runs without the RTNL lock). - MAC PHC / PTP init gated off in EtherCAT mode. - macb_pad_and_fcs(): the master reuses one persistent TX skb and rewrites skb->len each cycle without resetting the tail, so re-sync the tail and append the software FCS in place; a plain skb_put() walked the tail past the buffer end -> skb_over_panic(). Tested on a Raspberry Pi 5 (BCM2712, 6.18.33-rt) against an A6-EC servo drive: binds the RP1 GEM, reaches OP, 0 lost frames at up to 4 kHz. Build: ./configure --enable-macb [--with-macb-kernel=6.18] Known limitations: RX allocates an skb per frame in the poll path (a future revision can reuse the buffer in place); only the GEM RX path carries the hook (RP1 is GEM); PM suspend/resume is not specially handled.
125 lines
3.1 KiB
Makefile
125 lines
3.1 KiB
Makefile
#------------------------------------------------------------------------------
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#
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# Copyright (C) 2006-2025 Florian Pose, Ingenieurgemeinschaft IgH
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#
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# This file is part of the IgH EtherCAT Master.
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#
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# The IgH EtherCAT Master is free software; you can redistribute it and/or
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# modify it under the terms of the GNU General Public License version 2, as
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# published by the Free Software Foundation.
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#
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# The IgH EtherCAT Master is distributed in the hope that it will be useful,
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# but WITHOUT ANY WARRANTY; without even the implied warranty of
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# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
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# Public License for more details.
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#
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# You should have received a copy of the GNU General Public License along
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# with the IgH EtherCAT Master; if not, write to the Free Software
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# Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
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#
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#------------------------------------------------------------------------------
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include $(top_srcdir)/Makefile.kbuild
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SUBDIRS = \
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ccat \
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e1000 \
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e1000e \
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genet \
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igb \
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igc \
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macb \
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r8169 \
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stmmac
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EXTRA_DIST = \
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8139too-3.0-ethercat.c \
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8139too-3.0-orig.c \
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8139too-3.10-ethercat.c \
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8139too-3.10-orig.c \
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8139too-3.12-ethercat.c \
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8139too-3.12-orig.c \
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8139too-3.14-ethercat.c \
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8139too-3.14-orig.c \
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8139too-3.16-ethercat.c \
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8139too-3.16-orig.c \
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8139too-3.2-ethercat.c \
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8139too-3.2-orig.c \
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8139too-3.4-ethercat.c \
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8139too-3.4-orig.c \
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8139too-3.6-ethercat.c \
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8139too-3.6-orig.c \
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8139too-3.8-ethercat.c \
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8139too-3.8-orig.c \
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8139too-4.4-ethercat.c \
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8139too-4.4-orig.c \
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8139too-5.10-ethercat.c \
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8139too-5.10-orig.c \
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8139too-5.14-ethercat.c \
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8139too-5.14-orig.c \
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8139too-5.15-ethercat.c \
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8139too-5.15-orig.c \
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8139too-6.1-ethercat.c \
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8139too-6.1-orig.c \
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8139too-6.12-ethercat.c \
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8139too-6.12-orig.c \
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8139too-6.4-ethercat.c \
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8139too-6.4-orig.c \
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create_driver_table.py \
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device_drivers_template.md \
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e100-3.0-ethercat.c \
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e100-3.0-orig.c \
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e100-3.10-ethercat.c \
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e100-3.10-orig.c \
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e100-3.12-ethercat.c \
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e100-3.12-orig.c \
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e100-3.14-ethercat.c \
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e100-3.14-orig.c \
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e100-3.16-ethercat.c \
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e100-3.16-orig.c \
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e100-3.4-ethercat.c \
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e100-3.4-orig.c \
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e100-3.6-ethercat.c \
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e100-3.6-orig.c \
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e100-3.8-ethercat.c \
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e100-3.8-orig.c \
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e100-4.4-ethercat.c \
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e100-4.4-orig.c \
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e100-5.10-ethercat.c \
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e100-5.10-orig.c \
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e100-5.14-ethercat.c \
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e100-5.14-orig.c \
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e100-5.15-ethercat.c \
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e100-5.15-orig.c \
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e100-5.4-ethercat.c \
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e100-5.4-orig.c \
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e100-6.1-ethercat.c \
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e100-6.1-orig.c \
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e100-6.12-ethercat.c \
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e100-6.12-orig.c \
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e100-6.4-ethercat.c \
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e100-6.4-orig.c \
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ecdev.h \
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generic.c \
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r8169-3.10-ethercat.c \
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r8169-3.10-orig.c \
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r8169-3.12-ethercat.c \
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r8169-3.12-orig.c \
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r8169-3.14-ethercat.c \
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r8169-3.14-orig.c \
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r8169-3.16-ethercat.c \
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r8169-3.16-orig.c \
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r8169-3.2-ethercat.c \
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r8169-3.2-orig.c \
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r8169-3.4-ethercat.c \
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r8169-3.4-orig.c \
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r8169-3.6-ethercat.c \
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r8169-3.6-orig.c \
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r8169-3.8-ethercat.c \
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r8169-3.8-orig.c \
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r8169-4.4-ethercat.c \
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r8169-4.4-orig.c \
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update.sh
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#------------------------------------------------------------------------------
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