1

/******************************************************************************

     2

 *

     3

 *  $Id$

     4

 *

     5

 *  Copyright (C) 2006-2008  Florian Pose, Ingenieurgemeinschaft IgH

     6

 *

     7

 *  This file is part of the IgH EtherCAT Master.

     8

 *

     9

 *  The IgH EtherCAT Master is free software; you can redistribute it and/or

    10

 *  modify it under the terms of the GNU General Public License version 2, as

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 *  published by the Free Software Foundation.

    12

 *

    13

 *  The IgH EtherCAT Master is distributed in the hope that it will be useful,

    14

 *  but WITHOUT ANY WARRANTY; without even the implied warranty of

    15

 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General

    16

 *  Public License for more details.

    17

 *

    18

 *  You should have received a copy of the GNU General Public License along

    19

 *  with the IgH EtherCAT Master; if not, write to the Free Software

    20

 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA

    21

 *

    22

 *  ---

    23

 *

    24

 *  The license mentioned above concerns the source code only. Using the

    25

 *  EtherCAT technology and brand is only permitted in compliance with the

    26

 *  industrial property and similar rights of Beckhoff Automation GmbH.

    27

 *

    28

 *****************************************************************************/

    29

    30

/**

    31

   \file

    32

   EtherCAT master character device.

    33

*/

    34

    35

/*****************************************************************************/

    36

    37

#include <linux/module.h>

    38

#include <linux/vmalloc.h>

    39

#include <linux/mm.h>

    40

    41

#include "cdev.h"

    42

#include "master.h"

    43

#include "slave_config.h"

    44

#include "voe_handler.h"

    45

#include "ethernet.h"

    46

#include "ioctl.h"

    47

    48

/** Set to 1 to enable ioctl() command debugging.

    49

 */

    50

#define DEBUG_IOCTL 0

    51

    52

/*****************************************************************************/

    53

    54

static int eccdev_open(struct inode *, struct file *);

    55

static int eccdev_release(struct inode *, struct file *);

    56

static long eccdev_ioctl(struct file *, unsigned int, unsigned long);

    57

static int eccdev_mmap(struct file *, struct vm_area_struct *);

    58

    59

/** This is the kernel version from which the .fault member of the

    60

 * vm_operations_struct is usable.

    61

 */

    62

#define PAGE_FAULT_VERSION KERNEL_VERSION(2, 6, 23)

    63

    64

#if LINUX_VERSION_CODE >= PAGE_FAULT_VERSION

    65

static int eccdev_vma_fault(struct vm_area_struct *, struct vm_fault *);

    66

#else

    67

static struct page *eccdev_vma_nopage(

    68

        struct vm_area_struct *, unsigned long, int *);

    69

#endif

    70

    71

/*****************************************************************************/

    72

    73

/** File operation callbacks for the EtherCAT character device.

    74

 */

    75

static struct file_operations eccdev_fops = {

    76

    .owner          = THIS_MODULE,

    77

    .open           = eccdev_open,

    78

    .release        = eccdev_release,

    79

    .unlocked_ioctl = eccdev_ioctl,

    80

    .mmap           = eccdev_mmap

    81

};

    82

    83

/** Callbacks for a virtual memory area retrieved with ecdevc_mmap().

    84

 */

    85

struct vm_operations_struct eccdev_vm_ops = {

    86

#if LINUX_VERSION_CODE >= PAGE_FAULT_VERSION

    87

    .fault = eccdev_vma_fault

    88

#else

    89

    .nopage = eccdev_vma_nopage

    90

#endif

    91

};

    92

    93

/*****************************************************************************/

    94

    95

/** Private data structure for file handles.

    96

 */

    97

typedef struct {

    98

    ec_cdev_t *cdev; /**< Character device. */

    99

    unsigned int requested; /**< Master wac requested via this file handle. */

   100

    uint8_t *process_data; /**< Total process data area. */

   101

    size_t process_data_size; /**< Size of the \a process_data. */

   102

} ec_cdev_priv_t;

   103

   104

/*****************************************************************************/

   105

   106

/** Constructor.

   107

 * 

   108

 * \return 0 in case of success, else < 0

   109

 */

   110

int ec_cdev_init(

   111

        ec_cdev_t *cdev, /**< EtherCAT master character device. */

   112

        ec_master_t *master, /**< Parent master. */

   113

        dev_t dev_num /**< Device number. */

   114

        )

   115

{

   116

    int ret;

   117

   118

    cdev->master = master;

   119

   120

    cdev_init(&cdev->cdev, &eccdev_fops);

   121

    cdev->cdev.owner = THIS_MODULE;

   122

   123

    ret = cdev_add(&cdev->cdev,

   124

            MKDEV(MAJOR(dev_num), master->index), 1);

   125

    if (ret) {

   126

        EC_ERR("Failed to add character device!\n");

   127

    }

   128

   129

    return ret;

   130

}

   131

   132

/*****************************************************************************/

   133

   134

/** Destructor.

   135

 */

   136

void ec_cdev_clear(ec_cdev_t *cdev /**< EtherCAT XML device */)

   137

{

   138

    cdev_del(&cdev->cdev);

   139

}

   140

   141

/*****************************************************************************/

   142

   143

/** Copies a string to an ioctl structure.

   144

 */

   145

void ec_cdev_strcpy(

   146

        char *target, /**< Target. */

   147

        const char *source /**< Source. */

   148

        )

   149

{

   150

    if (source) {

   151

        strncpy(target, source, EC_IOCTL_STRING_SIZE);

   152

        target[EC_IOCTL_STRING_SIZE - 1] = 0;

   153

    } else {

   154

        target[0] = 0;

   155

    }

   156

}

   157

   158

/*****************************************************************************/

   159

   160

/** Get module information.

   161

 */

   162

int ec_cdev_ioctl_module(

   163

        unsigned long arg /**< Userspace address to store the results. */

   164

        )

   165

{

   166

    ec_ioctl_module_t data;

   167

   168

    data.ioctl_version_magic = EC_IOCTL_VERSION_MAGIC;

   169

    data.master_count = ec_master_count();

   170

   171

    if (copy_to_user((void __user *) arg, &data, sizeof(data)))

   172

        return -EFAULT;

   173

   174

    return 0;

   175

}

   176

   177

/*****************************************************************************/

   178

   179

/** Get master information.

   180

 */

   181

int ec_cdev_ioctl_master(

   182

        ec_master_t *master, /**< EtherCAT master. */

   183

        unsigned long arg /**< Userspace address to store the results. */

   184

        )

   185

{

   186

    ec_ioctl_master_t data;

   187

    unsigned int i;

   188

   189

    if (down_interruptible(&master->master_sem))

   190

        return -EINTR;

   191

    data.slave_count = master->slave_count;

   192

    data.config_count = ec_master_config_count(master);

   193

    data.domain_count = ec_master_domain_count(master);

   194

#ifdef EC_EOE

   195

    data.eoe_handler_count = ec_master_eoe_handler_count(master);

   196

#endif

   197

    data.phase = (uint8_t) master->phase;

   198

    data.active = (uint8_t) master->active;

   199

    data.scan_busy = master->scan_busy;

   200

    up(&master->master_sem);

   201

   202

    if (down_interruptible(&master->device_sem))

   203

        return -EINTR;

   204

   205

    if (master->main_device.dev) {

   206

        memcpy(data.devices[0].address,

   207

                master->main_device.dev->dev_addr, ETH_ALEN);

   208

    } else {

   209

        memcpy(data.devices[0].address, master->main_mac, ETH_ALEN); 

   210

    }

   211

    data.devices[0].attached = master->main_device.dev ? 1 : 0;

   212

    data.devices[0].link_state = master->main_device.link_state ? 1 : 0;

   213

    data.devices[0].tx_count = master->main_device.tx_count;

   214

    data.devices[0].rx_count = master->main_device.rx_count;

   215

    data.devices[0].tx_bytes = master->main_device.tx_bytes;

   216

    data.devices[0].tx_errors = master->main_device.tx_errors;

   217

    for (i = 0; i < EC_RATE_COUNT; i++) {

   218

        data.devices[0].tx_frame_rates[i] =

   219

            master->main_device.tx_frame_rates[i];

   220

        data.devices[0].tx_byte_rates[i] =

   221

            master->main_device.tx_byte_rates[i];

   222

        data.devices[0].loss_rates[i] = master->main_device.loss_rates[i];

   223

    }

   224

   225

    if (master->backup_device.dev) {

   226

        memcpy(data.devices[1].address,

   227

                master->backup_device.dev->dev_addr, ETH_ALEN); 

   228

    } else {

   229

        memcpy(data.devices[1].address, master->backup_mac, ETH_ALEN); 

   230

    }

   231

    data.devices[1].attached = master->backup_device.dev ? 1 : 0;

   232

    data.devices[1].link_state = master->backup_device.link_state ? 1 : 0;

   233

    data.devices[1].tx_count = master->backup_device.tx_count;

   234

    data.devices[1].rx_count = master->backup_device.rx_count;

   235

    data.devices[1].tx_bytes = master->backup_device.tx_bytes;

   236

    data.devices[1].tx_errors = master->backup_device.tx_errors;

   237

    for (i = 0; i < EC_RATE_COUNT; i++) {

   238

        data.devices[1].tx_frame_rates[i] =

   239

            master->backup_device.tx_frame_rates[i];

   240

        data.devices[1].tx_byte_rates[i] =

   241

            master->backup_device.tx_byte_rates[i];

   242

        data.devices[1].loss_rates[i] = master->backup_device.loss_rates[i];

   243

    }

   244

   245

    up(&master->device_sem);

   246

   247

    data.app_time = master->app_time;

   248

    data.ref_clock =

   249

        master->dc_ref_clock ? master->dc_ref_clock->ring_position : 0xffff;

   250

   251

    if (copy_to_user((void __user *) arg, &data, sizeof(data)))

   252

        return -EFAULT;

   253

   254

    return 0;

   255

}

   256

   257

/*****************************************************************************/

   258

   259

/** Get slave information.

   260

 */

   261

int ec_cdev_ioctl_slave(

   262

        ec_master_t *master, /**< EtherCAT master. */

   263

        unsigned long arg /**< Userspace address to store the results. */

   264

        )

   265

{

   266

    ec_ioctl_slave_t data;

   267

    const ec_slave_t *slave;

   268

    int i;

   269

   270

    if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {

   271

        return -EFAULT;

   272

    }

   273

   274

    if (down_interruptible(&master->master_sem))

   275

        return -EINTR;

   276

   277

    if (!(slave = ec_master_find_slave_const(

   278

                    master, 0, data.position))) {

   279

        up(&master->master_sem);

   280

        EC_ERR("Slave %u does not exist!\n", data.position);

   281

        return -EINVAL;

   282

    }

   283

   284

    data.vendor_id = slave->sii.vendor_id;

   285

    data.product_code = slave->sii.product_code;

   286

    data.revision_number = slave->sii.revision_number;

   287

    data.serial_number = slave->sii.serial_number;

   288

    data.alias = slave->sii.alias;

   289

    data.boot_rx_mailbox_offset = slave->sii.boot_rx_mailbox_offset;

   290

    data.boot_rx_mailbox_size = slave->sii.boot_rx_mailbox_size;

   291

    data.boot_tx_mailbox_offset = slave->sii.boot_tx_mailbox_offset;

   292

    data.boot_tx_mailbox_size = slave->sii.boot_tx_mailbox_size;

   293

    data.std_rx_mailbox_offset = slave->sii.std_rx_mailbox_offset;

   294

    data.std_rx_mailbox_size = slave->sii.std_rx_mailbox_size;

   295

    data.std_tx_mailbox_offset = slave->sii.std_tx_mailbox_offset;

   296

    data.std_tx_mailbox_size = slave->sii.std_tx_mailbox_size;

   297

    data.mailbox_protocols = slave->sii.mailbox_protocols;

   298

    data.has_general_category = slave->sii.has_general;

   299

    data.coe_details = slave->sii.coe_details;

   300

    data.general_flags = slave->sii.general_flags;

   301

    data.current_on_ebus = slave->sii.current_on_ebus;

   302

    for (i = 0; i < EC_MAX_PORTS; i++) {

   303

        data.ports[i].desc = slave->ports[i].desc;

   304

        data.ports[i].link.link_up = slave->ports[i].link.link_up;

   305

        data.ports[i].link.loop_closed = slave->ports[i].link.loop_closed;

   306

        data.ports[i].link.signal_detected =

   307

            slave->ports[i].link.signal_detected;

   308

        data.ports[i].receive_time = slave->ports[i].receive_time;

   309

        if (slave->ports[i].next_slave) {

   310

            data.ports[i].next_slave =

   311

                slave->ports[i].next_slave->ring_position;

   312

        } else {

   313

            data.ports[i].next_slave = 0xffff;

   314

        }

   315

        data.ports[i].delay_to_next_dc = slave->ports[i].delay_to_next_dc;

   316

    }

   317

    data.fmmu_bit = slave->base_fmmu_bit_operation;

   318

    data.dc_supported = slave->base_dc_supported;

   319

    data.dc_range = slave->base_dc_range;

   320

    data.has_dc_system_time = slave->has_dc_system_time;

   321

    data.transmission_delay = slave->transmission_delay;

   322

    data.al_state = slave->current_state;

   323

    data.error_flag = slave->error_flag;

   324

   325

    data.sync_count = slave->sii.sync_count;

   326

    data.sdo_count = ec_slave_sdo_count(slave);

   327

    data.sii_nwords = slave->sii_nwords;

   328

    ec_cdev_strcpy(data.group, slave->sii.group);

   329

    ec_cdev_strcpy(data.image, slave->sii.image);

   330

    ec_cdev_strcpy(data.order, slave->sii.order);

   331

    ec_cdev_strcpy(data.name, slave->sii.name);

   332

   333

    up(&master->master_sem);

   334

   335

    if (copy_to_user((void __user *) arg, &data, sizeof(data)))

   336

        return -EFAULT;

   337

   338

    return 0;

   339

}

   340

   341

/*****************************************************************************/

   342

   343

/** Get slave sync manager information.

   344

 */

   345

int ec_cdev_ioctl_slave_sync(

   346

        ec_master_t *master, /**< EtherCAT master. */

   347

        unsigned long arg /**< Userspace address to store the results. */

   348

        )

   349

{

   350

    ec_ioctl_slave_sync_t data;

   351

    const ec_slave_t *slave;

   352

    const ec_sync_t *sync;

   353

   354

    if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {

   355

        return -EFAULT;

   356

    }

   357

   358

    if (down_interruptible(&master->master_sem))

   359

        return -EINTR;

   360

   361

    if (!(slave = ec_master_find_slave_const(

   362

                    master, 0, data.slave_position))) {

   363

        up(&master->master_sem);

   364

        EC_ERR("Slave %u does not exist!\n", data.slave_position);

   365

        return -EINVAL;

   366

    }

   367

   368

    if (data.sync_index >= slave->sii.sync_count) {

   369

        up(&master->master_sem);

   370

        EC_ERR("Sync manager %u does not exist in slave %u!\n",

   371

                data.sync_index, data.slave_position);

   372

        return -EINVAL;

   373

    }

   374

   375

    sync = &slave->sii.syncs[data.sync_index];

   376

   377

    data.physical_start_address = sync->physical_start_address;

   378

    data.default_size = sync->default_length;

   379

    data.control_register = sync->control_register;

   380

    data.enable = sync->enable;

   381

    data.pdo_count = ec_pdo_list_count(&sync->pdos);

   382

   383

    up(&master->master_sem);

   384

   385

    if (copy_to_user((void __user *) arg, &data, sizeof(data)))

   386

        return -EFAULT;

   387

   388

    return 0;

   389

}

   390

   391

/*****************************************************************************/

   392

   393

/** Get slave sync manager PDO information.

   394

 */

   395

int ec_cdev_ioctl_slave_sync_pdo(

   396

        ec_master_t *master, /**< EtherCAT master. */

   397

        unsigned long arg /**< Userspace address to store the results. */

   398

        )

   399

{

   400

    ec_ioctl_slave_sync_pdo_t data;

   401

    const ec_slave_t *slave;

   402

    const ec_sync_t *sync;

   403

    const ec_pdo_t *pdo;

   404

   405

    if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {

   406

        return -EFAULT;

   407

    }

   408

   409

    if (down_interruptible(&master->master_sem))

   410

        return -EINTR;

   411

   412

    if (!(slave = ec_master_find_slave_const(

   413

                    master, 0, data.slave_position))) {

   414

        up(&master->master_sem);

   415

        EC_ERR("Slave %u does not exist!\n", data.slave_position);

   416

        return -EINVAL;

   417

    }

   418

   419

    if (data.sync_index >= slave->sii.sync_count) {

   420

        up(&master->master_sem);

   421

        EC_ERR("Sync manager %u does not exist in slave %u!\n",

   422

                data.sync_index, data.slave_position);

   423

        return -EINVAL;

   424

    }

   425

   426

    sync = &slave->sii.syncs[data.sync_index];

   427

    if (!(pdo = ec_pdo_list_find_pdo_by_pos_const(

   428

                    &sync->pdos, data.pdo_pos))) {

   429

        up(&master->master_sem);

   430

        EC_ERR("Sync manager %u does not contain a PDO with "

   431

                "position %u in slave %u!\n", data.sync_index,

   432

                data.pdo_pos, data.slave_position);

   433

        return -EINVAL;

   434

    }

   435

   436

    data.index = pdo->index;

   437

    data.entry_count = ec_pdo_entry_count(pdo);

   438

    ec_cdev_strcpy(data.name, pdo->name);

   439

   440

    up(&master->master_sem);

   441

   442

    if (copy_to_user((void __user *) arg, &data, sizeof(data)))

   443

        return -EFAULT;

   444

   445

    return 0;

   446

}

   447

   448

/*****************************************************************************/

   449

   450

/** Get slave sync manager PDO entry information.

   451

 */

   452

int ec_cdev_ioctl_slave_sync_pdo_entry(

   453

        ec_master_t *master, /**< EtherCAT master. */

   454

        unsigned long arg /**< Userspace address to store the results. */

   455

        )

   456

{

   457

    ec_ioctl_slave_sync_pdo_entry_t data;

   458

    const ec_slave_t *slave;

   459

    const ec_sync_t *sync;

   460

    const ec_pdo_t *pdo;

   461

    const ec_pdo_entry_t *entry;

   462

   463

    if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {

   464

        return -EFAULT;

   465

    }

   466

   467

    if (down_interruptible(&master->master_sem))

   468

        return -EINTR;

   469

   470

    if (!(slave = ec_master_find_slave_const(

   471

                    master, 0, data.slave_position))) {

   472

        up(&master->master_sem);

   473

        EC_ERR("Slave %u does not exist!\n", data.slave_position);

   474

        return -EINVAL;

   475

    }

   476

   477

    if (data.sync_index >= slave->sii.sync_count) {

   478

        up(&master->master_sem);

   479

        EC_ERR("Sync manager %u does not exist in slave %u!\n",

   480

                data.sync_index, data.slave_position);

   481

        return -EINVAL;

   482

    }

   483

   484

    sync = &slave->sii.syncs[data.sync_index];

   485

    if (!(pdo = ec_pdo_list_find_pdo_by_pos_const(

   486

                    &sync->pdos, data.pdo_pos))) {

   487

        up(&master->master_sem);

   488

        EC_ERR("Sync manager %u does not contain a PDO with "

   489

                "position %u in slave %u!\n", data.sync_index,

   490

                data.pdo_pos, data.slave_position);

   491

        return -EINVAL;

   492

    }