mirror of
https://gitlab.com/etherlab.org/ethercat.git
synced 2026-09-28 15:56:14 +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.
109 lines
2.6 KiB
Plaintext
109 lines
2.6 KiB
Plaintext
#-----------------------------------------------------------------------------
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#
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# Copyright (C) 2006-2008 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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#
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# vim: syntax=make
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#
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#-----------------------------------------------------------------------------
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src := @abs_srcdir@
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ccflags-y := -I@abs_top_builddir@
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ifeq (@ENABLE_DRIVER_RESOURCE_VERIFYING@,1)
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ccflags-y += -DEC_ENABLE_DRIVER_RESOURCE_VERIFYING
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endif
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REV := $(shell if test -s $(src)/../revision; then \
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cat $(src)/../revision; \
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else \
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git -C $(src)/.. describe 2>/dev/null || echo "unknown"; \
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fi)
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ifeq (@ENABLE_GENERIC@,1)
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EC_GENERIC_OBJ := generic.o
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obj-m += ec_generic.o
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ec_generic-objs := $(EC_GENERIC_OBJ)
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CFLAGS_$(EC_GENERIC_OBJ) = -DREV=$(REV)
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endif
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ifeq (@ENABLE_8139TOO@,1)
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EC_8139TOO_OBJ := 8139too-@KERNEL_8139TOO@-ethercat.o
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obj-m += ec_8139too.o
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ec_8139too-objs := $(EC_8139TOO_OBJ)
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CFLAGS_$(EC_8139TOO_OBJ) = -DREV=$(REV)
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endif
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ifeq (@ENABLE_CCAT@,1)
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obj-m += ccat/
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endif
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ifeq (@ENABLE_E100@,1)
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EC_E100_OBJ := e100-@KERNEL_E100@-ethercat.o
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obj-m += ec_e100.o
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ec_e100-objs := $(EC_E100_OBJ)
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CFLAGS_$(EC_E100_OBJ) = -DREV=$(REV)
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endif
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ifeq (@ENABLE_E1000@,1)
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obj-m += e1000/
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endif
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ifeq (@ENABLE_E1000E@,1)
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obj-m += e1000e/
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endif
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ifeq (@ENABLE_GENET@,1)
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obj-m += genet/
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endif
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ifeq (@ENABLE_IGB@,1)
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obj-m += igb/
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endif
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ifeq (@ENABLE_IGC@,1)
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obj-m += igc/
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endif
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ifeq (@ENABLE_MACB@,1)
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obj-m += macb/
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endif
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ifeq (@ENABLE_R8169@,1)
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ifeq (@R8169_IN_SUBDIR@,1)
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obj-m += r8169/
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else
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EC_R8169_OBJ := r8169-@KERNEL_R8169@-ethercat.o
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obj-m += ec_r8169.o
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ec_r8169-objs := $(EC_R8169_OBJ)
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CFLAGS_$(EC_R8169_OBJ) = -DREV=$(REV)
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endif
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endif
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ifeq (@ENABLE_STMMAC@,1)
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obj-m += stmmac/
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endif
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KBUILD_EXTRA_SYMBOLS := \
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@abs_top_builddir@/$(LINUX_SYMVERS) \
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@abs_top_builddir@/master/$(LINUX_SYMVERS)
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#-----------------------------------------------------------------------------
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