master/ioctl.c
author Patrick Bruenn <p.bruenn@beckhoff.com>
Wed, 23 Apr 2014 17:06:15 +0200
branchstable-1.5
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child 2529 c7e1f2616a9d
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replace symlink in example with the real file
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/******************************************************************************
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 *
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 *  $Id$
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 *
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 *  Copyright (C) 2006-2012  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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 *  The license mentioned above concerns the source code only. Using the
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 *  EtherCAT technology and brand is only permitted in compliance with the
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 *  industrial property and similar rights of Beckhoff Automation GmbH.
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 *
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 *****************************************************************************/
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/**
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   \file
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   EtherCAT master character device.
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*/
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/*****************************************************************************/
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#include <linux/module.h>
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#include <linux/vmalloc.h>
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#include "master.h"
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#include "slave_config.h"
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#include "voe_handler.h"
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#include "ethernet.h"
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#include "ioctl.h"
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/** Set to 1 to enable ioctl() latency tracing.
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 *
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 * Requires CPU timestamp counter!
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 */
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#define DEBUG_LATENCY 0
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/** Optional compiler attributes fo ioctl() functions.
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 */
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#if 0
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#define ATTRIBUTES __attribute__ ((__noinline__))
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#else
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#define ATTRIBUTES
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#endif
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/*****************************************************************************/
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/** Copies a string to an ioctl structure.
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 */
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static void ec_ioctl_strcpy(
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        char *target, /**< Target. */
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        const char *source /**< Source. */
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        )
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{
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    if (source) {
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        strncpy(target, source, EC_IOCTL_STRING_SIZE);
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        target[EC_IOCTL_STRING_SIZE - 1] = 0;
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    } else {
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        target[0] = 0;
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    }
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}
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/*****************************************************************************/
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/** Get module information.
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 *
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 * \return Zero on success, otherwise a negative error code.
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 */
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static ATTRIBUTES int ec_ioctl_module(
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        void *arg /**< Userspace address to store the results. */
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        )
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{
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    ec_ioctl_module_t data;
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    data.ioctl_version_magic = EC_IOCTL_VERSION_MAGIC;
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    data.master_count = ec_master_count();
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    if (copy_to_user((void __user *) arg, &data, sizeof(data)))
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        return -EFAULT;
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    return 0;
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}
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/*****************************************************************************/
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/** Get master information.
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 *
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 * \return Zero on success, otherwise a negative error code.
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 */
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static ATTRIBUTES int ec_ioctl_master(
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        ec_master_t *master, /**< EtherCAT master. */
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        void *arg /**< Userspace address to store the results. */
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        )
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{
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    ec_ioctl_master_t io;
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    unsigned int dev_idx, j;
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    if (down_interruptible(&master->master_sem)) {
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        return -EINTR;
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    }
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    io.slave_count = master->slave_count;
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    io.config_count = ec_master_config_count(master);
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    io.domain_count = ec_master_domain_count(master);
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#ifdef EC_EOE
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    io.eoe_handler_count = ec_master_eoe_handler_count(master);
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#endif
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    io.phase = (uint8_t) master->phase;
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    io.active = (uint8_t) master->active;
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    io.scan_busy = master->scan_busy;
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    up(&master->master_sem);
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    if (down_interruptible(&master->device_sem)) {
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        return -EINTR;
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    }
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    for (dev_idx = EC_DEVICE_MAIN;
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            dev_idx < ec_master_num_devices(master); dev_idx++) {
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        ec_device_t *device = &master->devices[dev_idx];
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        if (device->dev) {
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            memcpy(io.devices[dev_idx].address, device->dev->dev_addr,
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                    ETH_ALEN);
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        } else {
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            memcpy(io.devices[dev_idx].address, master->macs[dev_idx],
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                    ETH_ALEN);
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        }
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        io.devices[dev_idx].attached = device->dev ? 1 : 0;
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        io.devices[dev_idx].link_state = device->link_state ? 1 : 0;
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        io.devices[dev_idx].tx_count = device->tx_count;
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        io.devices[dev_idx].rx_count = device->rx_count;
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        io.devices[dev_idx].tx_bytes = device->tx_bytes;
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        io.devices[dev_idx].rx_bytes = device->rx_bytes;
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        io.devices[dev_idx].tx_errors = device->tx_errors;
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        for (j = 0; j < EC_RATE_COUNT; j++) {
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            io.devices[dev_idx].tx_frame_rates[j] =
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                device->tx_frame_rates[j];
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            io.devices[dev_idx].rx_frame_rates[j] =
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                device->rx_frame_rates[j];
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            io.devices[dev_idx].tx_byte_rates[j] =
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                device->tx_byte_rates[j];
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            io.devices[dev_idx].rx_byte_rates[j] =
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                device->rx_byte_rates[j];
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        }
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    }
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    io.num_devices = ec_master_num_devices(master);
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    io.tx_count = master->device_stats.tx_count;
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    io.rx_count = master->device_stats.rx_count;
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    io.tx_bytes = master->device_stats.tx_bytes;
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    io.rx_bytes = master->device_stats.rx_bytes;
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    for (j = 0; j < EC_RATE_COUNT; j++) {
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        io.tx_frame_rates[j] =
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            master->device_stats.tx_frame_rates[j];
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        io.rx_frame_rates[j] =
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            master->device_stats.rx_frame_rates[j];
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        io.tx_byte_rates[j] =
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            master->device_stats.tx_byte_rates[j];
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        io.rx_byte_rates[j] =
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            master->device_stats.rx_byte_rates[j];
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        io.loss_rates[j] =
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            master->device_stats.loss_rates[j];
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    }
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    up(&master->device_sem);
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    io.app_time = master->app_time;
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    io.ref_clock =
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        master->dc_ref_clock ? master->dc_ref_clock->ring_position : 0xffff;
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    if (copy_to_user((void __user *) arg, &io, sizeof(io))) {
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        return -EFAULT;
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    }
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    return 0;
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}
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/*****************************************************************************/
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/** Get slave information.
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 *
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 * \return Zero on success, otherwise a negative error code.
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 */
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static ATTRIBUTES int ec_ioctl_slave(
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        ec_master_t *master, /**< EtherCAT master. */
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        void *arg /**< Userspace address to store the results. */
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        )
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{
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    ec_ioctl_slave_t data;
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    const ec_slave_t *slave;
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    int i;
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   207
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    if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
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   209
        return -EFAULT;
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   210
    }
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   211
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   212
    if (down_interruptible(&master->master_sem))
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   213
        return -EINTR;
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   214
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   215
    if (!(slave = ec_master_find_slave_const(
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   216
                    master, 0, data.position))) {
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   217
        up(&master->master_sem);
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   218
        EC_MASTER_ERR(master, "Slave %u does not exist!\n", data.position);
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   219
        return -EINVAL;
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   220
    }
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   221
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    data.device_index = slave->device_index;
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   223
    data.vendor_id = slave->sii.vendor_id;
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   224
    data.product_code = slave->sii.product_code;
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   225
    data.revision_number = slave->sii.revision_number;
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   226
    data.serial_number = slave->sii.serial_number;
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   227
    data.alias = slave->effective_alias;
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   228
    data.boot_rx_mailbox_offset = slave->sii.boot_rx_mailbox_offset;
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   229
    data.boot_rx_mailbox_size = slave->sii.boot_rx_mailbox_size;
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   230
    data.boot_tx_mailbox_offset = slave->sii.boot_tx_mailbox_offset;
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   231
    data.boot_tx_mailbox_size = slave->sii.boot_tx_mailbox_size;
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   232
    data.std_rx_mailbox_offset = slave->sii.std_rx_mailbox_offset;
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   233
    data.std_rx_mailbox_size = slave->sii.std_rx_mailbox_size;
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   234
    data.std_tx_mailbox_offset = slave->sii.std_tx_mailbox_offset;
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   235
    data.std_tx_mailbox_size = slave->sii.std_tx_mailbox_size;
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   236
    data.mailbox_protocols = slave->sii.mailbox_protocols;
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   237
    data.has_general_category = slave->sii.has_general;
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   238
    data.coe_details = slave->sii.coe_details;
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   239
    data.general_flags = slave->sii.general_flags;
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   240
    data.current_on_ebus = slave->sii.current_on_ebus;
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diff changeset
   241
    for (i = 0; i < EC_MAX_PORTS; i++) {
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   242
        data.ports[i].desc = slave->ports[i].desc;
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   243
        data.ports[i].link.link_up = slave->ports[i].link.link_up;
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   244
        data.ports[i].link.loop_closed = slave->ports[i].link.loop_closed;
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   245
        data.ports[i].link.signal_detected =
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   246
            slave->ports[i].link.signal_detected;
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   247
        data.ports[i].receive_time = slave->ports[i].receive_time;
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   248
        if (slave->ports[i].next_slave) {
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   249
            data.ports[i].next_slave =
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   250
                slave->ports[i].next_slave->ring_position;
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   251
        } else {
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   252
            data.ports[i].next_slave = 0xffff;
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   253
        }
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   254
        data.ports[i].delay_to_next_dc = slave->ports[i].delay_to_next_dc;
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   255
    }
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   256
    data.fmmu_bit = slave->base_fmmu_bit_operation;
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   257
    data.dc_supported = slave->base_dc_supported;
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   258
    data.dc_range = slave->base_dc_range;
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   259
    data.has_dc_system_time = slave->has_dc_system_time;
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   260
    data.transmission_delay = slave->transmission_delay;
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   261
    data.al_state = slave->current_state;
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   262
    data.error_flag = slave->error_flag;
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   263
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   264
    data.sync_count = slave->sii.sync_count;
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   265
    data.sdo_count = ec_slave_sdo_count(slave);
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   266
    data.sii_nwords = slave->sii_nwords;
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   267
    ec_ioctl_strcpy(data.group, slave->sii.group);
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   268
    ec_ioctl_strcpy(data.image, slave->sii.image);
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   269
    ec_ioctl_strcpy(data.order, slave->sii.order);
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diff changeset
   270
    ec_ioctl_strcpy(data.name, slave->sii.name);
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diff changeset
   271
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   272
    up(&master->master_sem);
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diff changeset
   273
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diff changeset
   274
    if (copy_to_user((void __user *) arg, &data, sizeof(data)))
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diff changeset
   275
        return -EFAULT;
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diff changeset
   276
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   277
    return 0;
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diff changeset
   278
}
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   279
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   280
/*****************************************************************************/
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   281
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   282
/** Get slave sync manager information.
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 *
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   284
 * \return Zero on success, otherwise a negative error code.
2433
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 */
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   286
static ATTRIBUTES int ec_ioctl_slave_sync(
2433
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        ec_master_t *master, /**< EtherCAT master. */
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   288
        void *arg /**< Userspace address to store the results. */
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   289
        )
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   290
{
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   291
    ec_ioctl_slave_sync_t data;
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   292
    const ec_slave_t *slave;
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   293
    const ec_sync_t *sync;
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   294
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   295
    if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
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   296
        return -EFAULT;
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diff changeset
   297
    }
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diff changeset
   298
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diff changeset
   299
    if (down_interruptible(&master->master_sem))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
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diff changeset
   300
        return -EINTR;
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diff changeset
   301
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diff changeset
   302
    if (!(slave = ec_master_find_slave_const(
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diff changeset
   303
                    master, 0, data.slave_position))) {
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diff changeset
   304
        up(&master->master_sem);
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diff changeset
   305
        EC_MASTER_ERR(master, "Slave %u does not exist!\n",
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diff changeset
   306
                data.slave_position);
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diff changeset
   307
        return -EINVAL;
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diff changeset
   308
    }
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diff changeset
   309
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   310
    if (data.sync_index >= slave->sii.sync_count) {
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diff changeset
   311
        up(&master->master_sem);
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diff changeset
   312
        EC_SLAVE_ERR(slave, "Sync manager %u does not exist!\n",
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diff changeset
   313
                data.sync_index);
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   314
        return -EINVAL;
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diff changeset
   315
    }
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   316
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   317
    sync = &slave->sii.syncs[data.sync_index];
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diff changeset
   318
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
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diff changeset
   319
    data.physical_start_address = sync->physical_start_address;
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diff changeset
   320
    data.default_size = sync->default_length;
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diff changeset
   321
    data.control_register = sync->control_register;
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diff changeset
   322
    data.enable = sync->enable;
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diff changeset
   323
    data.pdo_count = ec_pdo_list_count(&sync->pdos);
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diff changeset
   324
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diff changeset
   325
    up(&master->master_sem);
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diff changeset
   326
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
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diff changeset
   327
    if (copy_to_user((void __user *) arg, &data, sizeof(data)))
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diff changeset
   328
        return -EFAULT;
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parents:
diff changeset
   329
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diff changeset
   330
    return 0;
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diff changeset
   331
}
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diff changeset
   332
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
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parents:
diff changeset
   333
/*****************************************************************************/
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diff changeset
   334
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
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diff changeset
   335
/** Get slave sync manager PDO information.
2522
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diff changeset
   336
 *
ec403cf308eb Updated Doxygen documentation.
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diff changeset
   337
 * \return Zero on success, otherwise a negative error code.
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
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diff changeset
   338
 */
2481
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diff changeset
   339
static ATTRIBUTES int ec_ioctl_slave_sync_pdo(
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
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diff changeset
   340
        ec_master_t *master, /**< EtherCAT master. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
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parents:
diff changeset
   341
        void *arg /**< Userspace address to store the results. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
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parents:
diff changeset
   342
        )
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
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parents:
diff changeset
   343
{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
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diff changeset
   344
    ec_ioctl_slave_sync_pdo_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
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diff changeset
   345
    const ec_slave_t *slave;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
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diff changeset
   346
    const ec_sync_t *sync;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
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diff changeset
   347
    const ec_pdo_t *pdo;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
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diff changeset
   348
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
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parents:
diff changeset
   349
    if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
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parents:
diff changeset
   350
        return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
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parents:
diff changeset
   351
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
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parents:
diff changeset
   352
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   353
    if (down_interruptible(&master->master_sem))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   354
        return -EINTR;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
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parents:
diff changeset
   355
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   356
    if (!(slave = ec_master_find_slave_const(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   357
                    master, 0, data.slave_position))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
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parents:
diff changeset
   358
        up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   359
        EC_MASTER_ERR(master, "Slave %u does not exist!\n",
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   360
                data.slave_position);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
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parents:
diff changeset
   361
        return -EINVAL;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
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parents:
diff changeset
   362
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
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parents:
diff changeset
   363
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   364
    if (data.sync_index >= slave->sii.sync_count) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   365
        up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
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parents:
diff changeset
   366
        EC_SLAVE_ERR(slave, "Sync manager %u does not exist!\n",
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
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parents:
diff changeset
   367
                data.sync_index);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
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parents:
diff changeset
   368
        return -EINVAL;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
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parents:
diff changeset
   369
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
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parents:
diff changeset
   370
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
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diff changeset
   371
    sync = &slave->sii.syncs[data.sync_index];
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
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parents:
diff changeset
   372
    if (!(pdo = ec_pdo_list_find_pdo_by_pos_const(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   373
                    &sync->pdos, data.pdo_pos))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   374
        up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   375
        EC_SLAVE_ERR(slave, "Sync manager %u does not contain a PDO with "
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   376
                "position %u!\n", data.sync_index, data.pdo_pos);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
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parents:
diff changeset
   377
        return -EINVAL;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
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parents:
diff changeset
   378
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
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parents:
diff changeset
   379
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   380
    data.index = pdo->index;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   381
    data.entry_count = ec_pdo_entry_count(pdo);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   382
    ec_ioctl_strcpy(data.name, pdo->name);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   383
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   384
    up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   385
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   386
    if (copy_to_user((void __user *) arg, &data, sizeof(data)))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   387
        return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
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parents:
diff changeset
   388
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   389
    return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   390
}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
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parents:
diff changeset
   391
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   392
/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
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parents:
diff changeset
   393
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   394
/** Get slave sync manager PDO entry information.
2522
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
   395
 *
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
   396
 * \return Zero on success, otherwise a negative error code.
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   397
 */
2481
c99ff159b60d Added function attribute definition.
Florian Pose <fp@igh-essen.com>
parents: 2477
diff changeset
   398
static ATTRIBUTES int ec_ioctl_slave_sync_pdo_entry(
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   399
        ec_master_t *master, /**< EtherCAT master. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   400
        void *arg /**< Userspace address to store the results. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   401
        )
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   402
{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   403
    ec_ioctl_slave_sync_pdo_entry_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   404
    const ec_slave_t *slave;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   405
    const ec_sync_t *sync;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   406
    const ec_pdo_t *pdo;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   407
    const ec_pdo_entry_t *entry;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   408
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   409
    if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   410
        return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   411
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   412
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   413
    if (down_interruptible(&master->master_sem))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   414
        return -EINTR;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   415
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   416
    if (!(slave = ec_master_find_slave_const(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   417
                    master, 0, data.slave_position))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   418
        up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   419
        EC_MASTER_ERR(master, "Slave %u does not exist!\n",
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   420
                data.slave_position);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   421
        return -EINVAL;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   422
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   423
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   424
    if (data.sync_index >= slave->sii.sync_count) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   425
        up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   426
        EC_SLAVE_ERR(slave, "Sync manager %u does not exist!\n",
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   427
                data.sync_index);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   428
        return -EINVAL;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   429
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   430
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   431
    sync = &slave->sii.syncs[data.sync_index];
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   432
    if (!(pdo = ec_pdo_list_find_pdo_by_pos_const(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   433
                    &sync->pdos, data.pdo_pos))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   434
        up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   435
        EC_SLAVE_ERR(slave, "Sync manager %u does not contain a PDO with "
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   436
                "position %u!\n", data.sync_index, data.pdo_pos);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   437
        return -EINVAL;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   438
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   439
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   440
    if (!(entry = ec_pdo_find_entry_by_pos_const(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   441
                    pdo, data.entry_pos))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   442
        up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   443
        EC_SLAVE_ERR(slave, "PDO 0x%04X does not contain an entry with "
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   444
                "position %u!\n", data.pdo_pos, data.entry_pos);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   445
        return -EINVAL;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   446
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   447
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   448
    data.index = entry->index;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   449
    data.subindex = entry->subindex;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   450
    data.bit_length = entry->bit_length;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   451
    ec_ioctl_strcpy(data.name, entry->name);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   452
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   453
    up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   454
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   455
    if (copy_to_user((void __user *) arg, &data, sizeof(data)))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   456
        return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   457
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   458
    return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   459
}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   460
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   461
/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   462
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   463
/** Get domain information.
2522
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
   464
 *
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
   465
 * \return Zero on success, otherwise a negative error code.
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   466
 */
2481
c99ff159b60d Added function attribute definition.
Florian Pose <fp@igh-essen.com>
parents: 2477
diff changeset
   467
static ATTRIBUTES int ec_ioctl_domain(
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   468
        ec_master_t *master, /**< EtherCAT master. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   469
        void *arg /**< Userspace address to store the results. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   470
        )
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   471
{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   472
    ec_ioctl_domain_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   473
    const ec_domain_t *domain;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   474
    unsigned int dev_idx;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   475
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   476
    if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   477
        return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   478
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   479
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   480
    if (down_interruptible(&master->master_sem))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   481
        return -EINTR;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   482
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   483
    if (!(domain = ec_master_find_domain_const(master, data.index))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   484
        up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   485
        EC_MASTER_ERR(master, "Domain %u does not exist!\n", data.index);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   486
        return -EINVAL;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   487
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   488
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   489
    data.data_size = domain->data_size;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   490
    data.logical_base_address = domain->logical_base_address;
2453
d461b1f07296 Added configure option for redundancy (--with-devices).
Florian Pose <fp@igh-essen.com>
parents: 2447
diff changeset
   491
    for (dev_idx = EC_DEVICE_MAIN;
d461b1f07296 Added configure option for redundancy (--with-devices).
Florian Pose <fp@igh-essen.com>
parents: 2447
diff changeset
   492
            dev_idx < ec_master_num_devices(domain->master); dev_idx++) {
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   493
        data.working_counter[dev_idx] = domain->working_counter[dev_idx];
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   494
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   495
    data.expected_working_counter = domain->expected_working_counter;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   496
    data.fmmu_count = ec_domain_fmmu_count(domain);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   497
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   498
    up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   499
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   500
    if (copy_to_user((void __user *) arg, &data, sizeof(data)))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   501
        return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   502
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   503
    return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   504
}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   505
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   506
/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   507
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   508
/** Get domain FMMU information.
2522
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
   509
 *
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
   510
 * \return Zero on success, otherwise a negative error code.
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   511
 */
2481
c99ff159b60d Added function attribute definition.
Florian Pose <fp@igh-essen.com>
parents: 2477
diff changeset
   512
static ATTRIBUTES int ec_ioctl_domain_fmmu(
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   513
        ec_master_t *master, /**< EtherCAT master. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   514
        void *arg /**< Userspace address to store the results. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   515
        )
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   516
{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   517
    ec_ioctl_domain_fmmu_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   518
    const ec_domain_t *domain;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   519
    const ec_fmmu_config_t *fmmu;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   520
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   521
    if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   522
        return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   523
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   524
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   525
    if (down_interruptible(&master->master_sem))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   526
        return -EINTR;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   527
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   528
    if (!(domain = ec_master_find_domain_const(master, data.domain_index))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   529
        up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   530
        EC_MASTER_ERR(master, "Domain %u does not exist!\n",
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   531
                data.domain_index);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   532
        return -EINVAL;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   533
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   534
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   535
    if (!(fmmu = ec_domain_find_fmmu(domain, data.fmmu_index))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   536
        up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   537
        EC_MASTER_ERR(master, "Domain %u has less than %u"
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   538
                " fmmu configurations.\n",
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   539
                data.domain_index, data.fmmu_index + 1);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   540
        return -EINVAL;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   541
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   542
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   543
    data.slave_config_alias = fmmu->sc->alias;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   544
    data.slave_config_position = fmmu->sc->position;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   545
    data.sync_index = fmmu->sync_index;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   546
    data.dir = fmmu->dir;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   547
    data.logical_address = fmmu->logical_start_address;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   548
    data.data_size = fmmu->data_size;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   549
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   550
    up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   551
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   552
    if (copy_to_user((void __user *) arg, &data, sizeof(data)))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   553
        return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   554
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   555
    return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   556
}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   557
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   558
/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   559
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   560
/** Get domain data.
2522
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
   561
 *
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
   562
 * \return Zero on success, otherwise a negative error code.
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   563
 */
2481
c99ff159b60d Added function attribute definition.
Florian Pose <fp@igh-essen.com>
parents: 2477
diff changeset
   564
static ATTRIBUTES int ec_ioctl_domain_data(
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   565
        ec_master_t *master, /**< EtherCAT master. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   566
        void *arg /**< Userspace address to store the results. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   567
        )
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   568
{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   569
    ec_ioctl_domain_data_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   570
    const ec_domain_t *domain;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   571
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   572
    if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   573
        return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   574
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   575
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   576
    if (down_interruptible(&master->master_sem))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   577
        return -EINTR;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   578
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   579
    if (!(domain = ec_master_find_domain_const(master, data.domain_index))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   580
        up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   581
        EC_MASTER_ERR(master, "Domain %u does not exist!\n",
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   582
                data.domain_index);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   583
        return -EINVAL;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   584
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   585
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   586
    if (domain->data_size != data.data_size) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   587
        up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   588
        EC_MASTER_ERR(master, "Data size mismatch %u/%zu!\n",
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   589
                data.data_size, domain->data_size);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   590
        return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   591
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   592
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   593
    if (copy_to_user((void __user *) data.target, domain->data,
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   594
                domain->data_size)) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   595
        up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   596
        return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   597
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   598
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   599
    up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   600
    return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   601
}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   602
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   603
/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   604
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   605
/** Set master debug level.
2522
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
   606
 *
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
   607
 * \return Zero on success, otherwise a negative error code.
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   608
 */
2481
c99ff159b60d Added function attribute definition.
Florian Pose <fp@igh-essen.com>
parents: 2477
diff changeset
   609
static ATTRIBUTES int ec_ioctl_master_debug(
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   610
        ec_master_t *master, /**< EtherCAT master. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   611
        void *arg /**< ioctl() argument. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   612
        )
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   613
{
2487
ccafdf1e261f Fixed some warnings on 64 bit systems.
Florian Pose <fp@igh-essen.com>
parents: 2486
diff changeset
   614
    return ec_master_debug_level(master, (unsigned long) arg);
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   615
}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   616
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   617
/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   618
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   619
/** Issue a bus scan.
2522
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
   620
 *
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
   621
 * \return Always zero (success).
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   622
 */
2481
c99ff159b60d Added function attribute definition.
Florian Pose <fp@igh-essen.com>
parents: 2477
diff changeset
   623
static ATTRIBUTES int ec_ioctl_master_rescan(
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   624
        ec_master_t *master, /**< EtherCAT master. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   625
        void *arg /**< ioctl() argument. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   626
        )
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   627
{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   628
    master->fsm.rescan_required = 1;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   629
    return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   630
}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   631
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   632
/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   633
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   634
/** Set slave state.
2522
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
   635
 *
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
   636
 * \return Zero on success, otherwise a negative error code.
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   637
 */
2481
c99ff159b60d Added function attribute definition.
Florian Pose <fp@igh-essen.com>
parents: 2477
diff changeset
   638
static ATTRIBUTES int ec_ioctl_slave_state(
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   639
        ec_master_t *master, /**< EtherCAT master. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   640
        void *arg /**< ioctl() argument. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   641
        )
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   642
{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   643
    ec_ioctl_slave_state_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   644
    ec_slave_t *slave;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   645
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   646
    if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   647
        return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   648
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   649
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   650
    if (down_interruptible(&master->master_sem))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   651
        return -EINTR;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   652
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   653
    if (!(slave = ec_master_find_slave(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   654
                    master, 0, data.slave_position))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   655
        up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   656
        EC_MASTER_ERR(master, "Slave %u does not exist!\n",
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   657
                data.slave_position);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   658
        return -EINVAL;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   659
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   660
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   661
    ec_slave_request_state(slave, data.al_state);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   662
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   663
    up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   664
    return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   665
}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   666
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   667
/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   668
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   669
/** Get slave SDO information.
2522
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
   670
 *
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
   671
 * \return Zero on success, otherwise a negative error code.
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   672
 */
2481
c99ff159b60d Added function attribute definition.
Florian Pose <fp@igh-essen.com>
parents: 2477
diff changeset
   673
static ATTRIBUTES int ec_ioctl_slave_sdo(
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   674
        ec_master_t *master, /**< EtherCAT master. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   675
        void *arg /**< ioctl() argument. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   676
        )
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   677
{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   678
    ec_ioctl_slave_sdo_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   679
    const ec_slave_t *slave;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   680
    const ec_sdo_t *sdo;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   681
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   682
    if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   683
        return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   684
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   685
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   686
    if (down_interruptible(&master->master_sem))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   687
        return -EINTR;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   688
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   689
    if (!(slave = ec_master_find_slave_const(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   690
                    master, 0, data.slave_position))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   691
        up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   692
        EC_MASTER_ERR(master, "Slave %u does not exist!\n",
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   693
                data.slave_position);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   694
        return -EINVAL;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   695
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   696
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   697
    if (!(sdo = ec_slave_get_sdo_by_pos_const(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   698
                    slave, data.sdo_position))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   699
        up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   700
        EC_SLAVE_ERR(slave, "SDO %u does not exist!\n", data.sdo_position);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   701
        return -EINVAL;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   702
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   703
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   704
    data.sdo_index = sdo->index;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   705
    data.max_subindex = sdo->max_subindex;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   706
    ec_ioctl_strcpy(data.name, sdo->name);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   707
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   708
    up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   709
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   710
    if (copy_to_user((void __user *) arg, &data, sizeof(data)))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   711
        return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   712
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   713
    return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   714
}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   715
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   716
/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   717
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   718
/** Get slave SDO entry information.
2522
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
   719
 *
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
   720
 * \return Zero on success, otherwise a negative error code.
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   721
 */
2481
c99ff159b60d Added function attribute definition.
Florian Pose <fp@igh-essen.com>
parents: 2477
diff changeset
   722
static ATTRIBUTES int ec_ioctl_slave_sdo_entry(
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   723
        ec_master_t *master, /**< EtherCAT master. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   724
        void *arg /**< ioctl() argument. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   725
        )
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   726
{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   727
    ec_ioctl_slave_sdo_entry_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   728
    const ec_slave_t *slave;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   729
    const ec_sdo_t *sdo;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   730
    const ec_sdo_entry_t *entry;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   731
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   732
    if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   733
        return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   734
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   735
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   736
    if (down_interruptible(&master->master_sem))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   737
        return -EINTR;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   738
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   739
    if (!(slave = ec_master_find_slave_const(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   740
                    master, 0, data.slave_position))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   741
        up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   742
        EC_MASTER_ERR(master, "Slave %u does not exist!\n",
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   743
                data.slave_position);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   744
        return -EINVAL;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   745
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   746
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   747
    if (data.sdo_spec <= 0) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   748
        if (!(sdo = ec_slave_get_sdo_by_pos_const(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   749
                        slave, -data.sdo_spec))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   750
            up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   751
            EC_SLAVE_ERR(slave, "SDO %u does not exist!\n", -data.sdo_spec);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   752
            return -EINVAL;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   753
        }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   754
    } else {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   755
        if (!(sdo = ec_slave_get_sdo_const(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   756
                        slave, data.sdo_spec))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   757
            up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   758
            EC_SLAVE_ERR(slave, "SDO 0x%04X does not exist!\n",
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   759
                    data.sdo_spec);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   760
            return -EINVAL;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   761
        }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   762
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   763
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   764
    if (!(entry = ec_sdo_get_entry_const(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   765
                    sdo, data.sdo_entry_subindex))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   766
        up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   767
        EC_SLAVE_ERR(slave, "SDO entry 0x%04X:%02X does not exist!\n",
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   768
                sdo->index, data.sdo_entry_subindex);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   769
        return -EINVAL;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   770
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   771
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   772
    data.data_type = entry->data_type;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   773
    data.bit_length = entry->bit_length;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   774
    data.read_access[EC_SDO_ENTRY_ACCESS_PREOP] =
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   775
        entry->read_access[EC_SDO_ENTRY_ACCESS_PREOP];
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   776
    data.read_access[EC_SDO_ENTRY_ACCESS_SAFEOP] =
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   777
        entry->read_access[EC_SDO_ENTRY_ACCESS_SAFEOP];
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   778
    data.read_access[EC_SDO_ENTRY_ACCESS_OP] =
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   779
        entry->read_access[EC_SDO_ENTRY_ACCESS_OP];
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   780
    data.write_access[EC_SDO_ENTRY_ACCESS_PREOP] =
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   781
        entry->write_access[EC_SDO_ENTRY_ACCESS_PREOP];
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   782
    data.write_access[EC_SDO_ENTRY_ACCESS_SAFEOP] =
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   783
        entry->write_access[EC_SDO_ENTRY_ACCESS_SAFEOP];
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   784
    data.write_access[EC_SDO_ENTRY_ACCESS_OP] =
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   785
        entry->write_access[EC_SDO_ENTRY_ACCESS_OP];
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   786
    ec_ioctl_strcpy(data.description, entry->description);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   787
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   788
    up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   789
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   790
    if (copy_to_user((void __user *) arg, &data, sizeof(data)))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   791
        return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   792
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   793
    return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   794
}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   795
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   796
/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   797
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   798
/** Upload SDO.
2522
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
   799
 *
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
   800
 * \return Zero on success, otherwise a negative error code.
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   801
 */
2481
c99ff159b60d Added function attribute definition.
Florian Pose <fp@igh-essen.com>
parents: 2477
diff changeset
   802
static ATTRIBUTES int ec_ioctl_slave_sdo_upload(
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   803
        ec_master_t *master, /**< EtherCAT master. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   804
        void *arg /**< ioctl() argument. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   805
        )
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   806
{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   807
    ec_ioctl_slave_sdo_upload_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   808
    uint8_t *target;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   809
    int ret;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   810
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   811
    if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   812
        return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   813
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   814
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   815
    if (!(target = kmalloc(data.target_size, GFP_KERNEL))) {
2487
ccafdf1e261f Fixed some warnings on 64 bit systems.
Florian Pose <fp@igh-essen.com>
parents: 2486
diff changeset
   816
        EC_MASTER_ERR(master, "Failed to allocate %zu bytes"
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   817
                " for SDO upload.\n", data.target_size);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   818
        return -ENOMEM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   819
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   820
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   821
    ret = ecrt_master_sdo_upload(master, data.slave_position,
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   822
            data.sdo_index, data.sdo_entry_subindex, target,
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   823
            data.target_size, &data.data_size, &data.abort_code);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   824
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   825
    if (!ret) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   826
        if (copy_to_user((void __user *) data.target,
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   827
                    target, data.data_size)) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   828
            kfree(target);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   829
            return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   830
        }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   831
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   832
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   833
    kfree(target);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   834
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   835
    if (__copy_to_user((void __user *) arg, &data, sizeof(data))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   836
        return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   837
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   838
2474
fb2fe8fae501 Fixed some ioctl() return values.
Florian Pose <fp@igh-essen.com>
parents: 2467
diff changeset
   839
    return ret;
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   840
}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   841
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   842
/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   843
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   844
/** Download SDO.
2522
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
   845
 *
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
   846
 * \return Zero on success, otherwise a negative error code.
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   847
 */
2481
c99ff159b60d Added function attribute definition.
Florian Pose <fp@igh-essen.com>
parents: 2477
diff changeset
   848
static ATTRIBUTES int ec_ioctl_slave_sdo_download(
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   849
        ec_master_t *master, /**< EtherCAT master. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   850
        void *arg /**< ioctl() argument. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   851
        )
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   852
{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   853
    ec_ioctl_slave_sdo_download_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   854
    uint8_t *sdo_data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   855
    int retval;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   856
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   857
    if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   858
        return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   859
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   860
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   861
    if (!(sdo_data = kmalloc(data.data_size, GFP_KERNEL))) {
2487
ccafdf1e261f Fixed some warnings on 64 bit systems.
Florian Pose <fp@igh-essen.com>
parents: 2486
diff changeset
   862
        EC_MASTER_ERR(master, "Failed to allocate %zu bytes"
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   863
                " for SDO download.\n", data.data_size);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   864
        return -ENOMEM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   865
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   866
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   867
    if (copy_from_user(sdo_data, (void __user *) data.data, data.data_size)) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   868
        kfree(sdo_data);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   869
        return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   870
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   871
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   872
    if (data.complete_access) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   873
        retval = ecrt_master_sdo_download_complete(master, data.slave_position,
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   874
                data.sdo_index, sdo_data, data.data_size, &data.abort_code);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   875
    } else {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   876
        retval = ecrt_master_sdo_download(master, data.slave_position,
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   877
                data.sdo_index, data.sdo_entry_subindex, sdo_data,
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   878
                data.data_size, &data.abort_code);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   879
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   880
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   881
    kfree(sdo_data);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   882
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   883
    if (__copy_to_user((void __user *) arg, &data, sizeof(data))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   884
        retval = -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   885
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   886
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   887
    return retval;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   888
}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   889
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   890
/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   891
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   892
/** Read a slave's SII.
2522
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
   893
 *
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
   894
 * \return Zero on success, otherwise a negative error code.
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   895
 */
2481
c99ff159b60d Added function attribute definition.
Florian Pose <fp@igh-essen.com>
parents: 2477
diff changeset
   896
static ATTRIBUTES int ec_ioctl_slave_sii_read(
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   897
        ec_master_t *master, /**< EtherCAT master. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   898
        void *arg /**< ioctl() argument. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   899
        )
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   900
{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   901
    ec_ioctl_slave_sii_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   902
    const ec_slave_t *slave;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   903
    int retval;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   904
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   905
    if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   906
        return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   907
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   908
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   909
    if (down_interruptible(&master->master_sem))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   910
        return -EINTR;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   911
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   912
    if (!(slave = ec_master_find_slave_const(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   913
                    master, 0, data.slave_position))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   914
        up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   915
        EC_MASTER_ERR(master, "Slave %u does not exist!\n",
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   916
                data.slave_position);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   917
        return -EINVAL;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   918
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   919
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   920
    if (!data.nwords
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   921
            || data.offset + data.nwords > slave->sii_nwords) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   922
        up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   923
        EC_SLAVE_ERR(slave, "Invalid SII read offset/size %u/%u for slave SII"
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   924
                " size %zu!\n", data.offset, data.nwords, slave->sii_nwords);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   925
        return -EINVAL;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   926
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   927
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   928
    if (copy_to_user((void __user *) data.words,
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   929
                slave->sii_words + data.offset, data.nwords * 2))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   930
        retval = -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   931
    else
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   932
        retval = 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   933
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   934
    up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   935
    return retval;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   936
}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   937
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   938
/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   939
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   940
/** Write a slave's SII.
2522
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
   941
 *
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
   942
 * \return Zero on success, otherwise a negative error code.
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   943
 */
2481
c99ff159b60d Added function attribute definition.
Florian Pose <fp@igh-essen.com>
parents: 2477
diff changeset
   944
static ATTRIBUTES int ec_ioctl_slave_sii_write(
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   945
        ec_master_t *master, /**< EtherCAT master. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   946
        void *arg /**< ioctl() argument. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   947
        )
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   948
{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   949
    ec_ioctl_slave_sii_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   950
    ec_slave_t *slave;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   951
    unsigned int byte_size;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   952
    uint16_t *words;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   953
    ec_sii_write_request_t request;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   954
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   955
    if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   956
        return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   957
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   958
2467
74ede087bc85 Using common waitqueue for requests.
Florian Pose <fp@igh-essen.com>
parents: 2464
diff changeset
   959
    if (!data.nwords) {
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   960
        return 0;
2467
74ede087bc85 Using common waitqueue for requests.
Florian Pose <fp@igh-essen.com>
parents: 2464
diff changeset
   961
    }
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   962
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   963
    byte_size = sizeof(uint16_t) * data.nwords;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   964
    if (!(words = kmalloc(byte_size, GFP_KERNEL))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   965
        EC_MASTER_ERR(master, "Failed to allocate %u bytes"
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   966
                " for SII contents.\n", byte_size);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   967
        return -ENOMEM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   968
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   969
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   970
    if (copy_from_user(words,
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   971
                (void __user *) data.words, byte_size)) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   972
        kfree(words);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   973
        return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   974
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   975
2467
74ede087bc85 Using common waitqueue for requests.
Florian Pose <fp@igh-essen.com>
parents: 2464
diff changeset
   976
    if (down_interruptible(&master->master_sem)) {
74ede087bc85 Using common waitqueue for requests.
Florian Pose <fp@igh-essen.com>
parents: 2464
diff changeset
   977
        kfree(words);
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   978
        return -EINTR;
2467
74ede087bc85 Using common waitqueue for requests.
Florian Pose <fp@igh-essen.com>
parents: 2464
diff changeset
   979
    }
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   980
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   981
    if (!(slave = ec_master_find_slave(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   982
                    master, 0, data.slave_position))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   983
        up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   984
        EC_MASTER_ERR(master, "Slave %u does not exist!\n",
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   985
                data.slave_position);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   986
        kfree(words);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   987
        return -EINVAL;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   988
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   989
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   990
    // init SII write request
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   991
    INIT_LIST_HEAD(&request.list);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   992
    request.slave = slave;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   993
    request.words = words;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   994
    request.offset = data.offset;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   995
    request.nwords = data.nwords;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   996
    request.state = EC_INT_REQUEST_QUEUED;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   997
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   998
    // schedule SII write request.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   999
    list_add_tail(&request.list, &master->sii_requests);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1000
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1001
    up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1002
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1003
    // wait for processing through FSM
2467
74ede087bc85 Using common waitqueue for requests.
Florian Pose <fp@igh-essen.com>
parents: 2464
diff changeset
  1004
    if (wait_event_interruptible(master->request_queue,
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1005
                request.state != EC_INT_REQUEST_QUEUED)) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1006
        // interrupted by signal
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1007
        down(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1008
        if (request.state == EC_INT_REQUEST_QUEUED) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1009
            // abort request
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1010
            list_del(&request.list);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1011
            up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1012
            kfree(words);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1013
            return -EINTR;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1014
        }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1015
        up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1016
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1017
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1018
    // wait until master FSM has finished processing
2467
74ede087bc85 Using common waitqueue for requests.
Florian Pose <fp@igh-essen.com>
parents: 2464
diff changeset
  1019
    wait_event(master->request_queue, request.state != EC_INT_REQUEST_BUSY);
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1020
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1021
    kfree(words);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1022
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1023
    return request.state == EC_INT_REQUEST_SUCCESS ? 0 : -EIO;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1024
}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1025
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1026
/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1027
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1028
/** Read a slave's registers.
2522
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
  1029
 *
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
  1030
 * \return Zero on success, otherwise a negative error code.
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1031
 */
2481
c99ff159b60d Added function attribute definition.
Florian Pose <fp@igh-essen.com>
parents: 2477
diff changeset
  1032
static ATTRIBUTES int ec_ioctl_slave_reg_read(
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1033
        ec_master_t *master, /**< EtherCAT master. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1034
        void *arg /**< ioctl() argument. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1035
        )
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1036
{
2443
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  1037
    ec_ioctl_slave_reg_t io;
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1038
    ec_slave_t *slave;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1039
    ec_reg_request_t request;
2443
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  1040
    int ret;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  1041
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  1042
    if (copy_from_user(&io, (void __user *) arg, sizeof(io))) {
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  1043
        return -EFAULT;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  1044
    }
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  1045
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  1046
    if (!io.size) {
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1047
        return 0;
2443
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  1048
    }
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  1049
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  1050
    // init register request
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  1051
    ret = ec_reg_request_init(&request, io.size);
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  1052
    if (ret) {
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  1053
        return ret;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  1054
    }
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  1055
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  1056
    ecrt_reg_request_read(&request, io.address, io.size);
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  1057
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  1058
    if (down_interruptible(&master->master_sem)) {
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  1059
        ec_reg_request_clear(&request);
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1060
        return -EINTR;
2443
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  1061
    }
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1062
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1063
    if (!(slave = ec_master_find_slave(
2443
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  1064
                    master, 0, io.slave_position))) {
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  1065
        up(&master->master_sem);
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  1066
        ec_reg_request_clear(&request);
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1067
        EC_MASTER_ERR(master, "Slave %u does not exist!\n",
2443
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  1068
                io.slave_position);
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1069
        return -EINVAL;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1070
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1071
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1072
    // schedule request.
2443
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  1073
    list_add_tail(&request.list, &slave->reg_requests);
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1074
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1075
    up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1076
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1077
    // wait for processing through FSM
2467
74ede087bc85 Using common waitqueue for requests.
Florian Pose <fp@igh-essen.com>
parents: 2464
diff changeset
  1078
    if (wait_event_interruptible(master->request_queue,
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1079
                request.state != EC_INT_REQUEST_QUEUED)) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1080
        // interrupted by signal
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1081
        down(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1082
        if (request.state == EC_INT_REQUEST_QUEUED) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1083
            // abort request
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1084
            list_del(&request.list);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1085
            up(&master->master_sem);
2443
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  1086
            ec_reg_request_clear(&request);
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1087
            return -EINTR;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1088
        }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1089
        up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1090
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1091
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1092
    // wait until master FSM has finished processing
2467
74ede087bc85 Using common waitqueue for requests.
Florian Pose <fp@igh-essen.com>
parents: 2464
diff changeset
  1093
    wait_event(master->request_queue, request.state != EC_INT_REQUEST_BUSY);
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1094
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1095
    if (request.state == EC_INT_REQUEST_SUCCESS) {
2443
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  1096
        if (copy_to_user((void __user *) io.data, request.data, io.size)) {
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1097
            return -EFAULT;
2443
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  1098
        }
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  1099
    }
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  1100
    ec_reg_request_clear(&request);
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1101
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1102
    return request.state == EC_INT_REQUEST_SUCCESS ? 0 : -EIO;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1103
}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1104
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1105
/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1106
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1107
/** Write a slave's registers.
2522
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
  1108
 *
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
  1109
 * \return Zero on success, otherwise a negative error code.
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1110
 */
2481
c99ff159b60d Added function attribute definition.
Florian Pose <fp@igh-essen.com>
parents: 2477
diff changeset
  1111
static ATTRIBUTES int ec_ioctl_slave_reg_write(
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1112
        ec_master_t *master, /**< EtherCAT master. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1113
        void *arg /**< ioctl() argument. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1114
        )
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1115
{
2443
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  1116
    ec_ioctl_slave_reg_t io;
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1117
    ec_slave_t *slave;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1118
    ec_reg_request_t request;
2443
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  1119
    int ret;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  1120
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  1121
    if (copy_from_user(&io, (void __user *) arg, sizeof(io))) {
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  1122
        return -EFAULT;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  1123
    }
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  1124
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  1125
    if (!io.size) {
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1126
        return 0;
2443
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  1127
    }
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  1128
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  1129
    // init register request
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  1130
    ret = ec_reg_request_init(&request, io.size);
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  1131
    if (ret) {
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  1132
        return ret;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  1133
    }
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  1134
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  1135
    if (copy_from_user(request.data, (void __user *) io.data, io.size)) {
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  1136
        ec_reg_request_clear(&request);
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  1137
        return -EFAULT;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  1138
    }
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  1139
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  1140
    ecrt_reg_request_write(&request, io.address, io.size);
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  1141
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  1142
    if (down_interruptible(&master->master_sem)) {
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  1143
        ec_reg_request_clear(&request);
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1144
        return -EINTR;
2443
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  1145
    }
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1146
2467
74ede087bc85 Using common waitqueue for requests.
Florian Pose <fp@igh-essen.com>
parents: 2464
diff changeset
  1147
    if (!(slave = ec_master_find_slave(master, 0, io.slave_position))) {
2443
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  1148
        up(&master->master_sem);
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  1149
        ec_reg_request_clear(&request);
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1150
        EC_MASTER_ERR(master, "Slave %u does not exist!\n",
2443
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  1151
                io.slave_position);
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1152
        return -EINVAL;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1153
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1154
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1155
    // schedule request.
2443
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  1156
    list_add_tail(&request.list, &slave->reg_requests);
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1157
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1158
    up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1159
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1160
    // wait for processing through FSM
2467
74ede087bc85 Using common waitqueue for requests.
Florian Pose <fp@igh-essen.com>
parents: 2464
diff changeset
  1161
    if (wait_event_interruptible(master->request_queue,
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1162
                request.state != EC_INT_REQUEST_QUEUED)) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1163
        // interrupted by signal
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1164
        down(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1165
        if (request.state == EC_INT_REQUEST_QUEUED) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1166
            // abort request
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1167
            list_del(&request.list);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1168
            up(&master->master_sem);
2443
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  1169
            ec_reg_request_clear(&request);
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1170
            return -EINTR;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1171
        }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1172
        up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1173
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1174
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1175
    // wait until master FSM has finished processing
2467
74ede087bc85 Using common waitqueue for requests.
Florian Pose <fp@igh-essen.com>
parents: 2464
diff changeset
  1176
    wait_event(master->request_queue, request.state != EC_INT_REQUEST_BUSY);
2443
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  1177
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  1178
    ec_reg_request_clear(&request);
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1179
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1180
    return request.state == EC_INT_REQUEST_SUCCESS ? 0 : -EIO;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1181
}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1182
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1183
/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1184
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1185
/** Get slave configuration information.
2522
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
  1186
 *
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
  1187
 * \return Zero on success, otherwise a negative error code.
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1188
 */
2481
c99ff159b60d Added function attribute definition.
Florian Pose <fp@igh-essen.com>
parents: 2477
diff changeset
  1189
static ATTRIBUTES int ec_ioctl_config(
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1190
        ec_master_t *master, /**< EtherCAT master. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1191
        void *arg /**< ioctl() argument. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1192
        )
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1193
{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1194
    ec_ioctl_config_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1195
    const ec_slave_config_t *sc;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1196
    uint8_t i;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1197
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1198
    if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1199
        return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1200
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1201
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1202
    if (down_interruptible(&master->master_sem))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1203
        return -EINTR;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1204
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1205
    if (!(sc = ec_master_get_config_const(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1206
                    master, data.config_index))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1207
        up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1208
        EC_MASTER_ERR(master, "Slave config %u does not exist!\n",
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1209
                data.config_index);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1210
        return -EINVAL;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1211
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1212
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1213
    data.alias = sc->alias;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1214
    data.position = sc->position;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1215
    data.vendor_id = sc->vendor_id;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1216
    data.product_code = sc->product_code;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1217
    for (i = 0; i < EC_MAX_SYNC_MANAGERS; i++) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1218
        data.syncs[i].dir = sc->sync_configs[i].dir;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1219
        data.syncs[i].watchdog_mode = sc->sync_configs[i].watchdog_mode;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1220
        data.syncs[i].pdo_count =
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1221
            ec_pdo_list_count(&sc->sync_configs[i].pdos);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1222
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1223
    data.watchdog_divider = sc->watchdog_divider;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1224
    data.watchdog_intervals = sc->watchdog_intervals;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1225
    data.sdo_count = ec_slave_config_sdo_count(sc);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1226
    data.idn_count = ec_slave_config_idn_count(sc);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1227
    data.slave_position = sc->slave ? sc->slave->ring_position : -1;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1228
    data.dc_assign_activate = sc->dc_assign_activate;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1229
    for (i = 0; i < EC_SYNC_SIGNAL_COUNT; i++) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1230
        data.dc_sync[i] = sc->dc_sync[i];
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1231
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1232
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1233
    up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1234
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1235
    if (copy_to_user((void __user *) arg, &data, sizeof(data)))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1236
        return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1237
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1238
    return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1239
}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1240
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1241
/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1242
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1243
/** Get slave configuration PDO information.
2522
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
  1244
 *
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
  1245
 * \return Zero on success, otherwise a negative error code.
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1246
 */
2481
c99ff159b60d Added function attribute definition.
Florian Pose <fp@igh-essen.com>
parents: 2477
diff changeset
  1247
static ATTRIBUTES int ec_ioctl_config_pdo(
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1248
        ec_master_t *master, /**< EtherCAT master. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1249
        void *arg /**< ioctl() argument. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1250
        )
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1251
{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1252
    ec_ioctl_config_pdo_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1253
    const ec_slave_config_t *sc;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1254
    const ec_pdo_t *pdo;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1255
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1256
    if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1257
        return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1258
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1259
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1260
    if (data.sync_index >= EC_MAX_SYNC_MANAGERS) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1261
        EC_MASTER_ERR(master, "Invalid sync manager index %u!\n",
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1262
                data.sync_index);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1263
        return -EINVAL;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1264
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1265
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1266
    if (down_interruptible(&master->master_sem))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1267
        return -EINTR;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1268
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1269
    if (!(sc = ec_master_get_config_const(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1270
                    master, data.config_index))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1271
        up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1272
        EC_MASTER_ERR(master, "Slave config %u does not exist!\n",
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1273
                data.config_index);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1274
        return -EINVAL;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1275
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1276
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1277
    if (!(pdo = ec_pdo_list_find_pdo_by_pos_const(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1278
                    &sc->sync_configs[data.sync_index].pdos,
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1279
                    data.pdo_pos))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1280
        up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1281
        EC_MASTER_ERR(master, "Invalid PDO position!\n");
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1282
        return -EINVAL;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1283
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1284
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1285
    data.index = pdo->index;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1286
    data.entry_count = ec_pdo_entry_count(pdo);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1287
    ec_ioctl_strcpy(data.name, pdo->name);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1288
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1289
    up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1290
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1291
    if (copy_to_user((void __user *) arg, &data, sizeof(data)))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1292
        return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1293
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1294
    return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1295
}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1296
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1297
/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1298
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1299
/** Get slave configuration PDO entry information.
2522
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
  1300
 *
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
  1301
 * \return Zero on success, otherwise a negative error code.
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1302
 */
2481
c99ff159b60d Added function attribute definition.
Florian Pose <fp@igh-essen.com>
parents: 2477
diff changeset
  1303
static ATTRIBUTES int ec_ioctl_config_pdo_entry(
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1304
        ec_master_t *master, /**< EtherCAT master. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1305
        void *arg /**< ioctl() argument. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1306
        )
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1307
{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1308
    ec_ioctl_config_pdo_entry_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1309
    const ec_slave_config_t *sc;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1310
    const ec_pdo_t *pdo;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1311
    const ec_pdo_entry_t *entry;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1312
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1313
    if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1314
        return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1315
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1316
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1317
    if (data.sync_index >= EC_MAX_SYNC_MANAGERS) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1318
        EC_MASTER_ERR(master, "Invalid sync manager index %u!\n",
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1319
                data.sync_index);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1320
        return -EINVAL;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1321
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1322
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1323
    if (down_interruptible(&master->master_sem))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1324
        return -EINTR;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1325
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1326
    if (!(sc = ec_master_get_config_const(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1327
                    master, data.config_index))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1328
        up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1329
        EC_MASTER_ERR(master, "Slave config %u does not exist!\n",
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1330
                data.config_index);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1331
        return -EINVAL;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1332
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1333
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1334
    if (!(pdo = ec_pdo_list_find_pdo_by_pos_const(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1335
                    &sc->sync_configs[data.sync_index].pdos,
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1336
                    data.pdo_pos))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1337
        up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1338
        EC_MASTER_ERR(master, "Invalid PDO position!\n");
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1339
        return -EINVAL;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1340
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1341
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1342
    if (!(entry = ec_pdo_find_entry_by_pos_const(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1343
                    pdo, data.entry_pos))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1344
        up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1345
        EC_MASTER_ERR(master, "Entry not found!\n");
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1346
        return -EINVAL;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1347
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1348
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1349
    data.index = entry->index;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1350
    data.subindex = entry->subindex;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1351
    data.bit_length = entry->bit_length;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1352
    ec_ioctl_strcpy(data.name, entry->name);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1353
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1354
    up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1355
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1356
    if (copy_to_user((void __user *) arg, &data, sizeof(data)))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1357
        return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1358
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1359
    return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1360
}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1361
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1362
/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1363
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1364
/** Get slave configuration SDO information.
2522
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
  1365
 *
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
  1366
 * \return Zero on success, otherwise a negative error code.
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1367
 */
2481
c99ff159b60d Added function attribute definition.
Florian Pose <fp@igh-essen.com>
parents: 2477
diff changeset
  1368
static ATTRIBUTES int ec_ioctl_config_sdo(
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1369
        ec_master_t *master, /**< EtherCAT master. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1370
        void *arg /**< ioctl() argument. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1371
        )
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1372
{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1373
    ec_ioctl_config_sdo_t *ioctl;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1374
    const ec_slave_config_t *sc;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1375
    const ec_sdo_request_t *req;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1376
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1377
    if (!(ioctl = kmalloc(sizeof(*ioctl), GFP_KERNEL))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1378
        return -ENOMEM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1379
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1380
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1381
    if (copy_from_user(ioctl, (void __user *) arg, sizeof(*ioctl))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1382
        kfree(ioctl);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1383
        return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1384
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1385
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1386
    if (down_interruptible(&master->master_sem)) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1387
        kfree(ioctl);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1388
        return -EINTR;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1389
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1390
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1391
    if (!(sc = ec_master_get_config_const(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1392
                    master, ioctl->config_index))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1393
        up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1394
        EC_MASTER_ERR(master, "Slave config %u does not exist!\n",
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1395
                ioctl->config_index);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1396
        kfree(ioctl);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1397
        return -EINVAL;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1398
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1399
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1400
    if (!(req = ec_slave_config_get_sdo_by_pos_const(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1401
                    sc, ioctl->sdo_pos))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1402
        up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1403
        EC_MASTER_ERR(master, "Invalid SDO position!\n");
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1404
        kfree(ioctl);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1405
        return -EINVAL;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1406
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1407
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1408
    ioctl->index = req->index;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1409
    ioctl->subindex = req->subindex;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1410
    ioctl->size = req->data_size;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1411
    memcpy(ioctl->data, req->data,
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1412
            min((u32) ioctl->size, (u32) EC_MAX_SDO_DATA_SIZE));
2435
4151f6f4c3e1 Show complete access flag in config view.
Florian Pose <fp@igh-essen.com>
parents: 2434
diff changeset
  1413
    ioctl->complete_access = req->complete_access;
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1414
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1415
    up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1416
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1417
    if (copy_to_user((void __user *) arg, ioctl, sizeof(*ioctl))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1418
        kfree(ioctl);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1419
        return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1420
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1421
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1422
    kfree(ioctl);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1423
    return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1424
}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1425
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1426
/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1427
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1428
/** Get slave configuration IDN information.
2522
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
  1429
 *
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
  1430
 * \return Zero on success, otherwise a negative error code.
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1431
 */
2481
c99ff159b60d Added function attribute definition.
Florian Pose <fp@igh-essen.com>
parents: 2477
diff changeset
  1432
static ATTRIBUTES int ec_ioctl_config_idn(
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1433
        ec_master_t *master, /**< EtherCAT master. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1434
        void *arg /**< ioctl() argument. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1435
        )
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1436
{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1437
    ec_ioctl_config_idn_t *ioctl;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1438
    const ec_slave_config_t *sc;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1439
    const ec_soe_request_t *req;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1440
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1441
    if (!(ioctl = kmalloc(sizeof(*ioctl), GFP_KERNEL))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1442
        return -ENOMEM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1443
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1444
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1445
    if (copy_from_user(ioctl, (void __user *) arg, sizeof(*ioctl))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1446
        kfree(ioctl);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1447
        return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1448
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1449
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1450
    if (down_interruptible(&master->master_sem)) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1451
        kfree(ioctl);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1452
        return -EINTR;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1453
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1454
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1455
    if (!(sc = ec_master_get_config_const(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1456
                    master, ioctl->config_index))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1457
        up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1458
        EC_MASTER_ERR(master, "Slave config %u does not exist!\n",
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1459
                ioctl->config_index);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1460
        kfree(ioctl);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1461
        return -EINVAL;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1462
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1463
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1464
    if (!(req = ec_slave_config_get_idn_by_pos_const(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1465
                    sc, ioctl->idn_pos))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1466
        up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1467
        EC_MASTER_ERR(master, "Invalid IDN position!\n");
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1468
        kfree(ioctl);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1469
        return -EINVAL;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1470
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1471
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1472
    ioctl->drive_no = req->drive_no;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1473
    ioctl->idn = req->idn;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1474
    ioctl->state = req->state;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1475
    ioctl->size = req->data_size;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1476
    memcpy(ioctl->data, req->data,
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1477
            min((u32) ioctl->size, (u32) EC_MAX_IDN_DATA_SIZE));
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1478
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1479
    up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1480
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1481
    if (copy_to_user((void __user *) arg, ioctl, sizeof(*ioctl))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1482
        kfree(ioctl);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1483
        return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1484
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1485
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1486
    kfree(ioctl);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1487
    return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1488
}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1489
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1490
/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1491
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1492
#ifdef EC_EOE
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1493
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1494
/** Get EoE handler information.
2522
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
  1495
 *
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
  1496
 * \return Zero on success, otherwise a negative error code.
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1497
 */
2481
c99ff159b60d Added function attribute definition.
Florian Pose <fp@igh-essen.com>
parents: 2477
diff changeset
  1498
static ATTRIBUTES int ec_ioctl_eoe_handler(
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1499
        ec_master_t *master, /**< EtherCAT master. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1500
        void *arg /**< ioctl() argument. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1501
        )
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1502
{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1503
    ec_ioctl_eoe_handler_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1504
    const ec_eoe_t *eoe;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1505
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1506
    if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1507
        return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1508
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1509
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1510
    if (down_interruptible(&master->master_sem))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1511
        return -EINTR;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1512
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1513
    if (!(eoe = ec_master_get_eoe_handler_const(master, data.eoe_index))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1514
        up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1515
        EC_MASTER_ERR(master, "EoE handler %u does not exist!\n",
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1516
                data.eoe_index);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1517
        return -EINVAL;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1518
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1519
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1520
    if (eoe->slave) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1521
        data.slave_position = eoe->slave->ring_position;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1522
    } else {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1523
        data.slave_position = 0xffff;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1524
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1525
    snprintf(data.name, EC_DATAGRAM_NAME_SIZE, eoe->dev->name);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1526
    data.open = eoe->opened;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1527
    data.rx_bytes = eoe->stats.tx_bytes;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1528
    data.rx_rate = eoe->tx_rate;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1529
    data.tx_bytes = eoe->stats.rx_bytes;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1530
    data.tx_rate = eoe->tx_rate;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1531
    data.tx_queued_frames = eoe->tx_queued_frames;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1532
    data.tx_queue_size = eoe->tx_queue_size;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1533
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1534
    up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1535
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1536
    if (copy_to_user((void __user *) arg, &data, sizeof(data)))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1537
        return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1538
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1539
    return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1540
}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1541
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1542
#endif
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1543
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1544
/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1545
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1546
/** Request the master from userspace.
2522
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
  1547
 *
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
  1548
 * \return Zero on success, otherwise a negative error code.
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1549
 */
2481
c99ff159b60d Added function attribute definition.
Florian Pose <fp@igh-essen.com>
parents: 2477
diff changeset
  1550
static ATTRIBUTES int ec_ioctl_request(
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1551
        ec_master_t *master, /**< EtherCAT master. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1552
        void *arg, /**< ioctl() argument. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1553
        ec_ioctl_context_t *ctx /**< Private data structure of file handle. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1554
        )
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1555
{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1556
    ec_master_t *m;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1557
    int ret = 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1558
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1559
    m = ecrt_request_master_err(master->index);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1560
    if (IS_ERR(m)) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1561
        ret = PTR_ERR(m);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1562
    } else {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1563
        ctx->requested = 1;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1564
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1565
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1566
    return ret;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1567
}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1568
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1569
/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1570
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1571
/** Create a domain.
2522
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
  1572
 *
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
  1573
 * \return Domain index on success, otherwise a negative error code.
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1574
 */
2481
c99ff159b60d Added function attribute definition.
Florian Pose <fp@igh-essen.com>
parents: 2477
diff changeset
  1575
static ATTRIBUTES int ec_ioctl_create_domain(
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1576
        ec_master_t *master, /**< EtherCAT master. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1577
        void *arg, /**< ioctl() argument. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1578
        ec_ioctl_context_t *ctx /**< Private data structure of file handle. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1579
        )
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1580
{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1581
    ec_domain_t *domain;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1582
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1583
    if (unlikely(!ctx->requested))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1584
        return -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1585
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1586
    domain = ecrt_master_create_domain_err(master);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1587
    if (IS_ERR(domain))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1588
        return PTR_ERR(domain);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1589
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1590
    return domain->index;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1591
}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1592
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1593
/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1594
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1595
/** Create a slave configuration.
2522
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
  1596
 *
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
  1597
 * \return Zero on success, otherwise a negative error code.
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1598
 */
2481
c99ff159b60d Added function attribute definition.
Florian Pose <fp@igh-essen.com>
parents: 2477
diff changeset
  1599
static ATTRIBUTES int ec_ioctl_create_slave_config(
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1600
        ec_master_t *master, /**< EtherCAT master. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1601
        void *arg, /**< ioctl() argument. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1602
        ec_ioctl_context_t *ctx /**< Private data structure of file handle. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1603
        )
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1604
{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1605
    ec_ioctl_config_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1606
    ec_slave_config_t *sc, *entry;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1607
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1608
    if (unlikely(!ctx->requested))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1609
        return -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1610
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1611
    if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1612
        return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1613
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1614
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1615
    sc = ecrt_master_slave_config_err(master, data.alias, data.position,
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1616
            data.vendor_id, data.product_code);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1617
    if (IS_ERR(sc))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1618
        return PTR_ERR(sc);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1619
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1620
    data.config_index = 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1621
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1622
    if (down_interruptible(&master->master_sem))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1623
        return -EINTR;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1624
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1625
    list_for_each_entry(entry, &master->configs, list) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1626
        if (entry == sc)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1627
            break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1628
        data.config_index++;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1629
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1630
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1631
    up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1632
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1633
    if (copy_to_user((void __user *) arg, &data, sizeof(data)))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1634
        return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1635
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1636
    return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1637
}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1638
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1639
/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1640
2447
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2443
diff changeset
  1641
/** Select the DC reference clock.
2522
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
  1642
 *
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
  1643
 * \return Zero on success, otherwise a negative error code.
2447
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2443
diff changeset
  1644
 */
2481
c99ff159b60d Added function attribute definition.
Florian Pose <fp@igh-essen.com>
parents: 2477
diff changeset
  1645
static ATTRIBUTES int ec_ioctl_select_ref_clock(
2447
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2443
diff changeset
  1646
        ec_master_t *master, /**< EtherCAT master. */
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2443
diff changeset
  1647
        void *arg, /**< ioctl() argument. */
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2443
diff changeset
  1648
        ec_ioctl_context_t *ctx /**< Private data structure of file handle. */
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2443
diff changeset
  1649
        )
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2443
diff changeset
  1650
{
2487
ccafdf1e261f Fixed some warnings on 64 bit systems.
Florian Pose <fp@igh-essen.com>
parents: 2486
diff changeset
  1651
    unsigned long config_index = (unsigned long) arg;
2447
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2443
diff changeset
  1652
    ec_slave_config_t *sc = NULL;
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2443
diff changeset
  1653
    int ret = 0;
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2443
diff changeset
  1654
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2443
diff changeset
  1655
    if (unlikely(!ctx->requested)) {
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2443
diff changeset
  1656
        ret = -EPERM;
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2443
diff changeset
  1657
        goto out_return;
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2443
diff changeset
  1658
    }
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2443
diff changeset
  1659
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2443
diff changeset
  1660
    if (down_interruptible(&master->master_sem)) {
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2443
diff changeset
  1661
        ret = -EINTR;
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2443
diff changeset
  1662
        goto out_return;
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2443
diff changeset
  1663
    }
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2443
diff changeset
  1664
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2443
diff changeset
  1665
    if (config_index != 0xFFFFFFFF) {
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2443
diff changeset
  1666
        if (!(sc = ec_master_get_config(master, config_index))) {
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2443
diff changeset
  1667
            ret = -ENOENT;
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2443
diff changeset
  1668
            goto out_up;
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2443
diff changeset
  1669
        }
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2443
diff changeset
  1670
    }
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2443
diff changeset
  1671
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2443
diff changeset
  1672
    ecrt_master_select_reference_clock(master, sc);
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2443
diff changeset
  1673
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2443
diff changeset
  1674
out_up:
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2443
diff changeset
  1675
    up(&master->master_sem);
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2443
diff changeset
  1676
out_return:
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2443
diff changeset
  1677
    return ret;
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2443
diff changeset
  1678
}
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2443
diff changeset
  1679
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2443
diff changeset
  1680
/*****************************************************************************/
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2443
diff changeset
  1681
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1682
/** Activates the master.
2522
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
  1683
 *
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
  1684
 * \return Zero on success, otherwise a negative error code.
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1685
 */
2481
c99ff159b60d Added function attribute definition.
Florian Pose <fp@igh-essen.com>
parents: 2477
diff changeset
  1686
static ATTRIBUTES int ec_ioctl_activate(
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1687
        ec_master_t *master, /**< EtherCAT master. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1688
        void *arg, /**< ioctl() argument. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1689
        ec_ioctl_context_t *ctx /**< Private data structure of file handle. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1690
        )
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1691
{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1692
    ec_ioctl_master_activate_t io;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1693
    ec_domain_t *domain;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1694
    off_t offset;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1695
    int ret;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1696
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1697
    if (unlikely(!ctx->requested))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1698
        return -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1699
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1700
    io.process_data = NULL;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1701
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1702
    /* Get the sum of the domains' process data sizes. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1703
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1704
    ctx->process_data_size = 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1705
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1706
    if (down_interruptible(&master->master_sem))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1707
        return -EINTR;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1708
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1709
    list_for_each_entry(domain, &master->domains, list) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1710
        ctx->process_data_size += ecrt_domain_size(domain);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1711
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1712
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1713
    up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1714
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1715
    if (ctx->process_data_size) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1716
        ctx->process_data = vmalloc(ctx->process_data_size);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1717
        if (!ctx->process_data) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1718
            ctx->process_data_size = 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1719
            return -ENOMEM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1720
        }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1721
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1722
        /* Set the memory as external process data memory for the
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1723
         * domains.
2443
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  1724
         */
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1725
        offset = 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1726
        list_for_each_entry(domain, &master->domains, list) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1727
            ecrt_domain_external_memory(domain,
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1728
                    ctx->process_data + offset);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1729
            offset += ecrt_domain_size(domain);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1730
        }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1731
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1732
#ifdef EC_IOCTL_RTDM
2443
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  1733
        /* RTDM uses a different approach for memory-mapping, which has to be
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  1734
         * initiated by the kernel.
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  1735
         */
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  1736
        ret = ec_rtdm_mmap(ctx, &io.process_data);
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1737
        if (ret < 0) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1738
            EC_MASTER_ERR(master, "Failed to map process data"
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1739
                    " memory to user space (code %i).\n", ret);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1740
            return ret;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1741
        }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1742
#endif
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1743
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1744
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1745
    io.process_data_size = ctx->process_data_size;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1746
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1747
#ifndef EC_IOCTL_RTDM
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1748
    ecrt_master_callbacks(master, ec_master_internal_send_cb,
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1749
            ec_master_internal_receive_cb, master);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1750
#endif
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1751
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1752
    ret = ecrt_master_activate(master);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1753
    if (ret < 0)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1754
        return ret;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1755
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1756
    if (copy_to_user((void __user *) arg, &io,
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1757
                sizeof(ec_ioctl_master_activate_t)))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1758
        return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1759
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1760
    return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1761
}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1762
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1763
/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1764
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1765
/** Deactivates the master.
2522
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
  1766
 *
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
  1767
 * \return Zero on success, otherwise a negative error code.
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1768
 */
2481
c99ff159b60d Added function attribute definition.
Florian Pose <fp@igh-essen.com>
parents: 2477
diff changeset
  1769
static ATTRIBUTES int ec_ioctl_deactivate(
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1770
        ec_master_t *master, /**< EtherCAT master. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1771
        void *arg, /**< ioctl() argument. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1772
        ec_ioctl_context_t *ctx /**< Private data structure of file handle. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1773
        )
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1774
{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1775
    if (unlikely(!ctx->requested))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1776
        return -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1777
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1778
    ecrt_master_deactivate(master);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1779
    return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1780
}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1781
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1782
/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1783
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1784
/** Set max. number of databytes in a cycle
2522
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
  1785
 *
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
  1786
 * \return Zero on success, otherwise a negative error code.
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1787
 */
2481
c99ff159b60d Added function attribute definition.
Florian Pose <fp@igh-essen.com>
parents: 2477
diff changeset
  1788
static ATTRIBUTES int ec_ioctl_set_send_interval(
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1789
        ec_master_t *master, /**< EtherCAT master. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1790
        void *arg, /**< ioctl() argument. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1791
        ec_ioctl_context_t *ctx /**< Private data structure of file handle. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1792
        )
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1793
{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1794
    size_t send_interval;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1795
2477
1d5ebfb7fec1 Fixed some ioctl() permissions.
Florian Pose <fp@igh-essen.com>
parents: 2474
diff changeset
  1796
    if (unlikely(!ctx->requested)) {
1d5ebfb7fec1 Fixed some ioctl() permissions.
Florian Pose <fp@igh-essen.com>
parents: 2474
diff changeset
  1797
        return -EPERM;
1d5ebfb7fec1 Fixed some ioctl() permissions.
Florian Pose <fp@igh-essen.com>
parents: 2474
diff changeset
  1798
    }
1d5ebfb7fec1 Fixed some ioctl() permissions.
Florian Pose <fp@igh-essen.com>
parents: 2474
diff changeset
  1799
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1800
    if (copy_from_user(&send_interval, (void __user *) arg,
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1801
                sizeof(send_interval))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1802
        return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1803
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1804
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1805
    if (down_interruptible(&master->master_sem))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1806
        return -EINTR;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1807
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1808
    ec_master_set_send_interval(master, send_interval);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1809
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1810
    up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1811
    return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1812
}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1813
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1814
/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1815
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1816
/** Send frames.
2522
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
  1817
 *
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
  1818
 * \return Zero on success, otherwise a negative error code.
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1819
 */
2481
c99ff159b60d Added function attribute definition.
Florian Pose <fp@igh-essen.com>
parents: 2477
diff changeset
  1820
static ATTRIBUTES int ec_ioctl_send(
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1821
        ec_master_t *master, /**< EtherCAT master. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1822
        void *arg, /**< ioctl() argument. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1823
        ec_ioctl_context_t *ctx /**< Private data structure of file handle. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1824
        )
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1825
{
2498
9cdd7669dc0b Avoided io_sem locking from userspace/rtdm library.
Florian Pose <fp@igh-essen.com>
parents: 2487
diff changeset
  1826
    if (unlikely(!ctx->requested)) {
9cdd7669dc0b Avoided io_sem locking from userspace/rtdm library.
Florian Pose <fp@igh-essen.com>
parents: 2487
diff changeset
  1827
        return -EPERM;
9cdd7669dc0b Avoided io_sem locking from userspace/rtdm library.
Florian Pose <fp@igh-essen.com>
parents: 2487
diff changeset
  1828
    }
9cdd7669dc0b Avoided io_sem locking from userspace/rtdm library.
Florian Pose <fp@igh-essen.com>
parents: 2487
diff changeset
  1829
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1830
    ecrt_master_send(master);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1831
    return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1832
}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1833
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1834
/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1835
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1836
/** Receive frames.
2522
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
  1837
 *
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
  1838
 * \return Zero on success, otherwise a negative error code.
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1839
 */
2481
c99ff159b60d Added function attribute definition.
Florian Pose <fp@igh-essen.com>
parents: 2477
diff changeset
  1840
static ATTRIBUTES int ec_ioctl_receive(
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1841
        ec_master_t *master, /**< EtherCAT master. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1842
        void *arg, /**< ioctl() argument. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1843
        ec_ioctl_context_t *ctx /**< Private data structure of file handle. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1844
        )
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1845
{
2498
9cdd7669dc0b Avoided io_sem locking from userspace/rtdm library.
Florian Pose <fp@igh-essen.com>
parents: 2487
diff changeset
  1846
    if (unlikely(!ctx->requested)) {
9cdd7669dc0b Avoided io_sem locking from userspace/rtdm library.
Florian Pose <fp@igh-essen.com>
parents: 2487
diff changeset
  1847
        return -EPERM;
9cdd7669dc0b Avoided io_sem locking from userspace/rtdm library.
Florian Pose <fp@igh-essen.com>
parents: 2487
diff changeset
  1848
    }
9cdd7669dc0b Avoided io_sem locking from userspace/rtdm library.
Florian Pose <fp@igh-essen.com>
parents: 2487
diff changeset
  1849
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1850
    ecrt_master_receive(master);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1851
    return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1852
}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1853
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1854
/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1855
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1856
/** Get the master state.
2522
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
  1857
 *
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
  1858
 * \return Zero on success, otherwise a negative error code.
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1859
 */
2481
c99ff159b60d Added function attribute definition.
Florian Pose <fp@igh-essen.com>
parents: 2477
diff changeset
  1860
static ATTRIBUTES int ec_ioctl_master_state(
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1861
        ec_master_t *master, /**< EtherCAT master. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1862
        void *arg, /**< ioctl() argument. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1863
        ec_ioctl_context_t *ctx /**< Private data structure of file handle. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1864
        )
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1865
{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1866
    ec_master_state_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1867
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1868
    ecrt_master_state(master, &data);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1869
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1870
    if (copy_to_user((void __user *) arg, &data, sizeof(data)))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1871
        return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1872
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1873
    return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1874
}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1875
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1876
/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1877
2522
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
  1878
/** Get the link state.
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
  1879
 *
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
  1880
 * \return Zero on success, otherwise a negative error code.
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1881
 */
2481
c99ff159b60d Added function attribute definition.
Florian Pose <fp@igh-essen.com>
parents: 2477
diff changeset
  1882
static ATTRIBUTES int ec_ioctl_master_link_state(
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1883
        ec_master_t *master, /**< EtherCAT master. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1884
        void *arg, /**< ioctl() argument. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1885
        ec_ioctl_context_t *ctx /**< Private data structure of file handle. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1886
        )
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1887
{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1888
    ec_ioctl_link_state_t ioctl;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1889
    ec_master_link_state_t state;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1890
    int ret;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1891
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1892
    if (copy_from_user(&ioctl, (void __user *) arg, sizeof(ioctl))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1893
        return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1894
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1895
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1896
    ret = ecrt_master_link_state(master, ioctl.dev_idx, &state);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1897
    if (ret < 0) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1898
        return ret;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1899
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1900
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1901
    if (copy_to_user((void __user *) ioctl.state, &state, sizeof(state))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1902
        return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1903
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1904
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1905
    return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1906
}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1907
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1908
/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1909
2522
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
  1910
/** Set the master DC application time.
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
  1911
 *
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
  1912
 * \return Zero on success, otherwise a negative error code.
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1913
 */
2481
c99ff159b60d Added function attribute definition.
Florian Pose <fp@igh-essen.com>
parents: 2477
diff changeset
  1914
static ATTRIBUTES int ec_ioctl_app_time(
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1915
        ec_master_t *master, /**< EtherCAT master. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1916
        void *arg, /**< ioctl() argument. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1917
        ec_ioctl_context_t *ctx /**< Private data structure of file handle. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1918
        )
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1919
{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1920
    ec_ioctl_app_time_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1921
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1922
    if (unlikely(!ctx->requested))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1923
        return -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1924
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1925
    if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1926
        return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1927
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1928
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1929
    ecrt_master_application_time(master, data.app_time);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1930
    return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1931
}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1932
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1933
/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1934
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1935
/** Sync the reference clock.
2522
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
  1936
 *
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
  1937
 * \return Zero on success, otherwise a negative error code.
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1938
 */
2481
c99ff159b60d Added function attribute definition.
Florian Pose <fp@igh-essen.com>
parents: 2477
diff changeset
  1939
static ATTRIBUTES int ec_ioctl_sync_ref(
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1940
        ec_master_t *master, /**< EtherCAT master. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1941
        void *arg, /**< ioctl() argument. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1942
        ec_ioctl_context_t *ctx /**< Private data structure of file handle. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1943
        )
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1944
{
2498
9cdd7669dc0b Avoided io_sem locking from userspace/rtdm library.
Florian Pose <fp@igh-essen.com>
parents: 2487
diff changeset
  1945
    if (unlikely(!ctx->requested)) {
9cdd7669dc0b Avoided io_sem locking from userspace/rtdm library.
Florian Pose <fp@igh-essen.com>
parents: 2487
diff changeset
  1946
        return -EPERM;
9cdd7669dc0b Avoided io_sem locking from userspace/rtdm library.
Florian Pose <fp@igh-essen.com>
parents: 2487
diff changeset
  1947
    }
9cdd7669dc0b Avoided io_sem locking from userspace/rtdm library.
Florian Pose <fp@igh-essen.com>
parents: 2487
diff changeset
  1948
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1949
    ecrt_master_sync_reference_clock(master);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1950
    return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1951
}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1952
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1953
/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1954
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1955
/** Sync the slave clocks.
2522
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
  1956
 *
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
  1957
 * \return Zero on success, otherwise a negative error code.
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1958
 */
2481
c99ff159b60d Added function attribute definition.
Florian Pose <fp@igh-essen.com>
parents: 2477
diff changeset
  1959
static ATTRIBUTES int ec_ioctl_sync_slaves(
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1960
        ec_master_t *master, /**< EtherCAT master. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1961
        void *arg, /**< ioctl() argument. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1962
        ec_ioctl_context_t *ctx /**< Private data structure of file handle. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1963
        )
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1964
{
2498
9cdd7669dc0b Avoided io_sem locking from userspace/rtdm library.
Florian Pose <fp@igh-essen.com>
parents: 2487
diff changeset
  1965
    if (unlikely(!ctx->requested)) {
9cdd7669dc0b Avoided io_sem locking from userspace/rtdm library.
Florian Pose <fp@igh-essen.com>
parents: 2487
diff changeset
  1966
        return -EPERM;
9cdd7669dc0b Avoided io_sem locking from userspace/rtdm library.
Florian Pose <fp@igh-essen.com>
parents: 2487
diff changeset
  1967
    }
9cdd7669dc0b Avoided io_sem locking from userspace/rtdm library.
Florian Pose <fp@igh-essen.com>
parents: 2487
diff changeset
  1968
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1969
    ecrt_master_sync_slave_clocks(master);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1970
    return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1971
}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1972
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1973
/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1974
2447
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2443
diff changeset
  1975
/** Get the system time of the reference clock.
2522
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
  1976
 *
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
  1977
 * \return Zero on success, otherwise a negative error code.
2447
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2443
diff changeset
  1978
 */
2481
c99ff159b60d Added function attribute definition.
Florian Pose <fp@igh-essen.com>
parents: 2477
diff changeset
  1979
static ATTRIBUTES int ec_ioctl_ref_clock_time(
2447
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2443
diff changeset
  1980
        ec_master_t *master, /**< EtherCAT master. */
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2443
diff changeset
  1981
        void *arg, /**< ioctl() argument. */
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2443
diff changeset
  1982
        ec_ioctl_context_t *ctx /**< Private data structure of file handle. */
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2443
diff changeset
  1983
        )
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2443
diff changeset
  1984
{
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2443
diff changeset
  1985
    uint32_t time;
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2443
diff changeset
  1986
    int ret;
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2443
diff changeset
  1987
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2443
diff changeset
  1988
    if (unlikely(!ctx->requested)) {
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2443
diff changeset
  1989
        return -EPERM;
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2443
diff changeset
  1990
    }
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2443
diff changeset
  1991
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2443
diff changeset
  1992
    ret = ecrt_master_reference_clock_time(master, &time);
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2443
diff changeset
  1993
    if (ret) {
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2443
diff changeset
  1994
        return ret;
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2443
diff changeset
  1995
    }
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2443
diff changeset
  1996
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2443
diff changeset
  1997
    if (copy_to_user((void __user *) arg, &time, sizeof(time))) {
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2443
diff changeset
  1998
        return -EFAULT;
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2443
diff changeset
  1999
    }
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2443
diff changeset
  2000
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2443
diff changeset
  2001
    return 0;
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2443
diff changeset
  2002
}
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2443
diff changeset
  2003
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2443
diff changeset
  2004
/*****************************************************************************/
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2443
diff changeset
  2005
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2006
/** Queue the sync monitoring datagram.
2522
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
  2007
 *
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
  2008
 * \return Zero on success, otherwise a negative error code.
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2009
 */
2481
c99ff159b60d Added function attribute definition.
Florian Pose <fp@igh-essen.com>
parents: 2477
diff changeset
  2010
static ATTRIBUTES int ec_ioctl_sync_mon_queue(
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2011
        ec_master_t *master, /**< EtherCAT master. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2012
        void *arg, /**< ioctl() argument. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2013
        ec_ioctl_context_t *ctx /**< Private data structure of file handle. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2014
        )
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2015
{
2498
9cdd7669dc0b Avoided io_sem locking from userspace/rtdm library.
Florian Pose <fp@igh-essen.com>
parents: 2487
diff changeset
  2016
    if (unlikely(!ctx->requested)) {
9cdd7669dc0b Avoided io_sem locking from userspace/rtdm library.
Florian Pose <fp@igh-essen.com>
parents: 2487
diff changeset
  2017
        return -EPERM;
9cdd7669dc0b Avoided io_sem locking from userspace/rtdm library.
Florian Pose <fp@igh-essen.com>
parents: 2487
diff changeset
  2018
    }
9cdd7669dc0b Avoided io_sem locking from userspace/rtdm library.
Florian Pose <fp@igh-essen.com>
parents: 2487
diff changeset
  2019
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2020
    ecrt_master_sync_monitor_queue(master);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2021
    return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2022
}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2023
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2024
/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2025
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2026
/** Processes the sync monitoring datagram.
2522
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
  2027
 *
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
  2028
 * \return Zero on success, otherwise a negative error code.
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2029
 */
2481
c99ff159b60d Added function attribute definition.
Florian Pose <fp@igh-essen.com>
parents: 2477
diff changeset
  2030
static ATTRIBUTES int ec_ioctl_sync_mon_process(
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2031
        ec_master_t *master, /**< EtherCAT master. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2032
        void *arg, /**< ioctl() argument. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2033
        ec_ioctl_context_t *ctx /**< Private data structure of file handle. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2034
        )
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2035
{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2036
    uint32_t time_diff;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2037
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2038
    if (unlikely(!ctx->requested))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2039
        return -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2040
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2041
    time_diff = ecrt_master_sync_monitor_process(master);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2042
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2043
    if (copy_to_user((void __user *) arg, &time_diff, sizeof(time_diff)))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2044
        return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2045
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2046
    return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2047
}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2048
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2049
/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2050
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2051
/** Reset configuration.
2522
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
  2052
 *
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
  2053
 * \return Always zero (success).
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2054
 */
2481
c99ff159b60d Added function attribute definition.
Florian Pose <fp@igh-essen.com>
parents: 2477
diff changeset
  2055
static ATTRIBUTES int ec_ioctl_reset(
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2056
        ec_master_t *master, /**< EtherCAT master. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2057
        void *arg, /**< ioctl() argument. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2058
        ec_ioctl_context_t *ctx /**< Private data structure of file handle. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2059
        )
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2060
{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2061
    down(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2062
    ecrt_master_reset(master);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2063
    up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2064
    return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2065
}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2066
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2067
/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2068
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2069
/** Configure a sync manager.
2522
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
  2070
 *
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
  2071
 * \return Zero on success, otherwise a negative error code.
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2072
 */
2481
c99ff159b60d Added function attribute definition.
Florian Pose <fp@igh-essen.com>
parents: 2477
diff changeset
  2073
static ATTRIBUTES int ec_ioctl_sc_sync(
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2074
        ec_master_t *master, /**< EtherCAT master. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2075
        void *arg, /**< ioctl() argument. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2076
        ec_ioctl_context_t *ctx /**< Private data structure of file handle. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2077
        )
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2078
{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2079
    ec_ioctl_config_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2080
    ec_slave_config_t *sc;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2081
    unsigned int i;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2082
    int ret = 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2083
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2084
    if (unlikely(!ctx->requested)) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2085
        ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2086
        goto out_return;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2087
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2088
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2089
    if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2090
        ret = -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2091
        goto out_return;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2092
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2093
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2094
    if (down_interruptible(&master->master_sem)) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2095
        ret = -EINTR;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2096
        goto out_return;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2097
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2098
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2099
    if (!(sc = ec_master_get_config(master, data.config_index))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2100
        ret = -ENOENT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2101
        goto out_up;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2102
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2103
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2104
    for (i = 0; i < EC_MAX_SYNC_MANAGERS; i++) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2105
        if (data.syncs[i].config_this) {
2474
fb2fe8fae501 Fixed some ioctl() return values.
Florian Pose <fp@igh-essen.com>
parents: 2467
diff changeset
  2106
            ret = ecrt_slave_config_sync_manager(sc, i, data.syncs[i].dir,
fb2fe8fae501 Fixed some ioctl() return values.
Florian Pose <fp@igh-essen.com>
parents: 2467
diff changeset
  2107
                        data.syncs[i].watchdog_mode);
fb2fe8fae501 Fixed some ioctl() return values.
Florian Pose <fp@igh-essen.com>
parents: 2467
diff changeset
  2108
            if (ret) {
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2109
                goto out_up;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2110
            }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2111
        }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2112
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2113
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2114
out_up:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2115
    up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2116
out_return:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2117
    return ret;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2118
}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2119
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2120
/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2121
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2122
/** Configure a slave's watchdogs.
2522
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
  2123
 *
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
  2124
 * \return Zero on success, otherwise a negative error code.
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2125
 */
2481
c99ff159b60d Added function attribute definition.
Florian Pose <fp@igh-essen.com>
parents: 2477
diff changeset
  2126
static ATTRIBUTES int ec_ioctl_sc_watchdog(
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2127
        ec_master_t *master, /**< EtherCAT master. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2128
        void *arg, /**< ioctl() argument. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2129
        ec_ioctl_context_t *ctx /**< Private data structure of file handle. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2130
        )
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2131
{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2132
    ec_ioctl_config_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2133
    ec_slave_config_t *sc;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2134
    int ret = 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2135
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2136
    if (unlikely(!ctx->requested)) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2137
        ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2138
        goto out_return;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2139
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2140
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2141
    if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2142
        ret = -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2143
        goto out_return;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2144
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2145
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2146
    if (down_interruptible(&master->master_sem)) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2147
        ret = -EINTR;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2148
        goto out_return;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2149
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2150
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2151
    if (!(sc = ec_master_get_config(master, data.config_index))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2152
        ret = -ENOENT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2153
        goto out_up;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2154
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2155
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2156
    ecrt_slave_config_watchdog(sc,
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2157
            data.watchdog_divider, data.watchdog_intervals);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2158
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2159
out_up:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2160
    up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2161
out_return:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2162
    return ret;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2163
}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2164
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2165
/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2166
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2167
/** Add a PDO to the assignment.
2522
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
  2168
 *
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
  2169
 * \return Zero on success, otherwise a negative error code.
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2170
 */
2481
c99ff159b60d Added function attribute definition.
Florian Pose <fp@igh-essen.com>
parents: 2477
diff changeset
  2171
static ATTRIBUTES int ec_ioctl_sc_add_pdo(
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2172
        ec_master_t *master, /**< EtherCAT master. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2173
        void *arg, /**< ioctl() argument. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2174
        ec_ioctl_context_t *ctx /**< Private data structure of file handle. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2175
        )
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2176
{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2177
    ec_ioctl_config_pdo_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2178
    ec_slave_config_t *sc;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2179
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2180
    if (unlikely(!ctx->requested))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2181
        return -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2182
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2183
    if (copy_from_user(&data, (void __user *) arg, sizeof(data)))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2184
        return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2185
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2186
    if (down_interruptible(&master->master_sem))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2187
        return -EINTR;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2188
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2189
    if (!(sc = ec_master_get_config(master, data.config_index))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2190
        up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2191
        return -ENOENT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2192
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2193
2522
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
  2194
    up(&master->master_sem); /** \todo sc could be invalidated */
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2195
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2196
    return ecrt_slave_config_pdo_assign_add(sc, data.sync_index, data.index);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2197
}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2198
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2199
/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2200
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2201
/** Clears the PDO assignment.
2522
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
  2202
 *
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
  2203
 * \return Zero on success, otherwise a negative error code.
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2204
 */
2481
c99ff159b60d Added function attribute definition.
Florian Pose <fp@igh-essen.com>
parents: 2477
diff changeset
  2205
static ATTRIBUTES int ec_ioctl_sc_clear_pdos(
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2206
        ec_master_t *master, /**< EtherCAT master. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2207
        void *arg, /**< ioctl() argument. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2208
        ec_ioctl_context_t *ctx /**< Private data structure of file handle. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2209
        )
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2210
{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2211
    ec_ioctl_config_pdo_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2212
    ec_slave_config_t *sc;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2213
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2214
    if (unlikely(!ctx->requested))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2215
        return -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2216
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2217
    if (copy_from_user(&data, (void __user *) arg, sizeof(data)))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2218
        return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2219
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2220
    if (down_interruptible(&master->master_sem))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2221
        return -EINTR;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2222
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2223
    if (!(sc = ec_master_get_config(master, data.config_index))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2224
        up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2225
        return -ENOENT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2226
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2227
2522
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
  2228
    up(&master->master_sem); /** \todo sc could be invalidated */
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2229
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2230
    ecrt_slave_config_pdo_assign_clear(sc, data.sync_index);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2231
    return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2232
}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2233
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2234
/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2235
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2236
/** Add an entry to a PDO's mapping.
2522
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
  2237
 *
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
  2238
 * \return Zero on success, otherwise a negative error code.
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2239
 */
2481
c99ff159b60d Added function attribute definition.
Florian Pose <fp@igh-essen.com>
parents: 2477
diff changeset
  2240
static ATTRIBUTES int ec_ioctl_sc_add_entry(
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2241
        ec_master_t *master, /**< EtherCAT master. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2242
        void *arg, /**< ioctl() argument. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2243
        ec_ioctl_context_t *ctx /**< Private data structure of file handle. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2244
        )
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2245
{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2246
    ec_ioctl_add_pdo_entry_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2247
    ec_slave_config_t *sc;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2248
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2249
    if (unlikely(!ctx->requested))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2250
        return -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2251
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2252
    if (copy_from_user(&data, (void __user *) arg, sizeof(data)))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2253
        return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2254
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2255
    if (down_interruptible(&master->master_sem))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2256
        return -EINTR;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2257
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2258
    if (!(sc = ec_master_get_config(master, data.config_index))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2259
        up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2260
        return -ENOENT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2261
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2262
2522
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
  2263
    up(&master->master_sem); /** \todo sc could be invalidated */
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2264
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2265
    return ecrt_slave_config_pdo_mapping_add(sc, data.pdo_index,
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2266
            data.entry_index, data.entry_subindex, data.entry_bit_length);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2267
}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2268
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2269
/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2270
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2271
/** Clears the mapping of a PDO.
2522
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
  2272
 *
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
  2273
 * \return Zero on success, otherwise a negative error code.
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2274
 */
2481
c99ff159b60d Added function attribute definition.
Florian Pose <fp@igh-essen.com>
parents: 2477
diff changeset
  2275
static ATTRIBUTES int ec_ioctl_sc_clear_entries(
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2276
        ec_master_t *master, /**< EtherCAT master. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2277
        void *arg, /**< ioctl() argument. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2278
        ec_ioctl_context_t *ctx /**< Private data structure of file handle. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2279
        )
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2280
{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2281
    ec_ioctl_config_pdo_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2282
    ec_slave_config_t *sc;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2283
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2284
    if (unlikely(!ctx->requested))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2285
        return -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2286
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2287
    if (copy_from_user(&data, (void __user *) arg, sizeof(data)))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2288
        return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2289
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2290
    if (down_interruptible(&master->master_sem))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2291
        return -EINTR;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2292
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2293
    if (!(sc = ec_master_get_config(master, data.config_index))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2294
        up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2295
        return -ENOENT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2296
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2297
2522
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
  2298
    up(&master->master_sem); /** \todo sc could be invalidated */
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2299
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2300
    ecrt_slave_config_pdo_mapping_clear(sc, data.index);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2301
    return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2302
}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2303
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2304
/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2305
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2306
/** Registers a PDO entry.
2522
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
  2307
 *
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
  2308
 * \return Process data offset on success, otherwise a negative error code.
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2309
 */
2481
c99ff159b60d Added function attribute definition.
Florian Pose <fp@igh-essen.com>
parents: 2477
diff changeset
  2310
static ATTRIBUTES int ec_ioctl_sc_reg_pdo_entry(
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2311
        ec_master_t *master, /**< EtherCAT master. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2312
        void *arg, /**< ioctl() argument. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2313
        ec_ioctl_context_t *ctx /**< Private data structure of file handle. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2314
        )
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2315
{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2316
    ec_ioctl_reg_pdo_entry_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2317
    ec_slave_config_t *sc;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2318
    ec_domain_t *domain;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2319
    int ret;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2320
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2321
    if (unlikely(!ctx->requested))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2322
        return -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2323
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2324
    if (copy_from_user(&data, (void __user *) arg, sizeof(data)))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2325
        return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2326
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2327
    if (down_interruptible(&master->master_sem))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2328
        return -EINTR;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2329
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2330
    if (!(sc = ec_master_get_config(master, data.config_index))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2331
        up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2332
        return -ENOENT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2333
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2334
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2335
    if (!(domain = ec_master_find_domain(master, data.domain_index))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2336
        up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2337
        return -ENOENT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2338
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2339
2522
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
  2340
    up(&master->master_sem); /** \todo sc or domain could be invalidated */
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2341
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2342
    ret = ecrt_slave_config_reg_pdo_entry(sc, data.entry_index,
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2343
            data.entry_subindex, domain, &data.bit_position);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2344
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2345
    if (copy_to_user((void __user *) arg, &data, sizeof(data)))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2346
        return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2347
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2348
    return ret;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2349
}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2350
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2351
/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2352
2505
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries.
Florian Pose <fp@igh-essen.com>
parents: 2504
diff changeset
  2353
/** Registers a PDO entry by its position.
2522
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
  2354
 *
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
  2355
 * \return Process data offset on success, otherwise a negative error code.
2505
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries.
Florian Pose <fp@igh-essen.com>
parents: 2504
diff changeset
  2356
 */
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries.
Florian Pose <fp@igh-essen.com>
parents: 2504
diff changeset
  2357
static ATTRIBUTES int ec_ioctl_sc_reg_pdo_pos(
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries.
Florian Pose <fp@igh-essen.com>
parents: 2504
diff changeset
  2358
        ec_master_t *master, /**< EtherCAT master. */
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries.
Florian Pose <fp@igh-essen.com>
parents: 2504
diff changeset
  2359
        void *arg, /**< ioctl() argument. */
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries.
Florian Pose <fp@igh-essen.com>
parents: 2504
diff changeset
  2360
        ec_ioctl_context_t *ctx /**< Private data structure of file handle. */
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries.
Florian Pose <fp@igh-essen.com>
parents: 2504
diff changeset
  2361
        )
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries.
Florian Pose <fp@igh-essen.com>
parents: 2504
diff changeset
  2362
{
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries.
Florian Pose <fp@igh-essen.com>
parents: 2504
diff changeset
  2363
    ec_ioctl_reg_pdo_pos_t io;
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries.
Florian Pose <fp@igh-essen.com>
parents: 2504
diff changeset
  2364
    ec_slave_config_t *sc;
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries.
Florian Pose <fp@igh-essen.com>
parents: 2504
diff changeset
  2365
    ec_domain_t *domain;
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries.
Florian Pose <fp@igh-essen.com>
parents: 2504
diff changeset
  2366
    int ret;
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries.
Florian Pose <fp@igh-essen.com>
parents: 2504
diff changeset
  2367
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries.
Florian Pose <fp@igh-essen.com>
parents: 2504
diff changeset
  2368
    if (unlikely(!ctx->requested)) {
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries.
Florian Pose <fp@igh-essen.com>
parents: 2504
diff changeset
  2369
        return -EPERM;
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries.
Florian Pose <fp@igh-essen.com>
parents: 2504
diff changeset
  2370
    }
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries.
Florian Pose <fp@igh-essen.com>
parents: 2504
diff changeset
  2371
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries.
Florian Pose <fp@igh-essen.com>
parents: 2504
diff changeset
  2372
    if (copy_from_user(&io, (void __user *) arg, sizeof(io))) {
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries.
Florian Pose <fp@igh-essen.com>
parents: 2504
diff changeset
  2373
        return -EFAULT;
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries.
Florian Pose <fp@igh-essen.com>
parents: 2504
diff changeset
  2374
    }
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries.
Florian Pose <fp@igh-essen.com>
parents: 2504
diff changeset
  2375
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries.
Florian Pose <fp@igh-essen.com>
parents: 2504
diff changeset
  2376
    if (down_interruptible(&master->master_sem)) {
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries.
Florian Pose <fp@igh-essen.com>
parents: 2504
diff changeset
  2377
        return -EINTR;
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries.
Florian Pose <fp@igh-essen.com>
parents: 2504
diff changeset
  2378
    }
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries.
Florian Pose <fp@igh-essen.com>
parents: 2504
diff changeset
  2379
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries.
Florian Pose <fp@igh-essen.com>
parents: 2504
diff changeset
  2380
    if (!(sc = ec_master_get_config(master, io.config_index))) {
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries.
Florian Pose <fp@igh-essen.com>
parents: 2504
diff changeset
  2381
        up(&master->master_sem);
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries.
Florian Pose <fp@igh-essen.com>
parents: 2504
diff changeset
  2382
        return -ENOENT;
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries.
Florian Pose <fp@igh-essen.com>
parents: 2504
diff changeset
  2383
    }
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries.
Florian Pose <fp@igh-essen.com>
parents: 2504
diff changeset
  2384
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries.
Florian Pose <fp@igh-essen.com>
parents: 2504
diff changeset
  2385
    if (!(domain = ec_master_find_domain(master, io.domain_index))) {
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries.
Florian Pose <fp@igh-essen.com>
parents: 2504
diff changeset
  2386
        up(&master->master_sem);
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries.
Florian Pose <fp@igh-essen.com>
parents: 2504
diff changeset
  2387
        return -ENOENT;
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries.
Florian Pose <fp@igh-essen.com>
parents: 2504
diff changeset
  2388
    }
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries.
Florian Pose <fp@igh-essen.com>
parents: 2504
diff changeset
  2389
2522
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
  2390
    up(&master->master_sem); /** \todo sc or domain could be invalidated */
2505
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries.
Florian Pose <fp@igh-essen.com>
parents: 2504
diff changeset
  2391
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries.
Florian Pose <fp@igh-essen.com>
parents: 2504
diff changeset
  2392
    ret = ecrt_slave_config_reg_pdo_entry_pos(sc, io.sync_index,
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries.
Florian Pose <fp@igh-essen.com>
parents: 2504
diff changeset
  2393
            io.pdo_pos, io.entry_pos, domain, &io.bit_position);
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries.
Florian Pose <fp@igh-essen.com>
parents: 2504
diff changeset
  2394
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries.
Florian Pose <fp@igh-essen.com>
parents: 2504
diff changeset
  2395
    if (copy_to_user((void __user *) arg, &io, sizeof(io)))
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries.
Florian Pose <fp@igh-essen.com>
parents: 2504
diff changeset
  2396
        return -EFAULT;
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries.
Florian Pose <fp@igh-essen.com>
parents: 2504
diff changeset
  2397
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries.
Florian Pose <fp@igh-essen.com>
parents: 2504
diff changeset
  2398
    return ret;
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries.
Florian Pose <fp@igh-essen.com>
parents: 2504
diff changeset
  2399
}
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries.
Florian Pose <fp@igh-essen.com>
parents: 2504
diff changeset
  2400
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries.
Florian Pose <fp@igh-essen.com>
parents: 2504
diff changeset
  2401
/*****************************************************************************/
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries.
Florian Pose <fp@igh-essen.com>
parents: 2504
diff changeset
  2402
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2403
/** Sets the DC AssignActivate word and the sync signal times.
2522
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
  2404
 *
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
  2405
 * \return Zero on success, otherwise a negative error code.
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2406
 */
2481
c99ff159b60d Added function attribute definition.
Florian Pose <fp@igh-essen.com>
parents: 2477
diff changeset
  2407
static ATTRIBUTES int ec_ioctl_sc_dc(
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2408
        ec_master_t *master, /**< EtherCAT master. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2409
        void *arg, /**< ioctl() argument. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2410
        ec_ioctl_context_t *ctx /**< Private data structure of file handle. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2411
        )
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2412
{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2413
    ec_ioctl_config_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2414
    ec_slave_config_t *sc;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2415
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2416
    if (unlikely(!ctx->requested))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2417
        return -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2418
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2419
    if (copy_from_user(&data, (void __user *) arg, sizeof(data)))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2420
        return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2421
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2422
    if (down_interruptible(&master->master_sem))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2423
        return -EINTR;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2424
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2425
    if (!(sc = ec_master_get_config(master, data.config_index))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2426
        up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2427
        return -ENOENT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2428
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2429
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2430
    ecrt_slave_config_dc(sc, data.dc_assign_activate,
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2431
            data.dc_sync[0].cycle_time,
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2432
            data.dc_sync[0].shift_time,
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2433
            data.dc_sync[1].cycle_time,
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2434
            data.dc_sync[1].shift_time);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2435
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2436
    up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2437
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2438
    return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2439
}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2440
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2441
/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2442
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2443
/** Configures an SDO.
2522
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
  2444
 *
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
  2445
 * \return Zero on success, otherwise a negative error code.
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2446
 */
2481
c99ff159b60d Added function attribute definition.
Florian Pose <fp@igh-essen.com>
parents: 2477
diff changeset
  2447
static ATTRIBUTES int ec_ioctl_sc_sdo(
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2448
        ec_master_t *master, /**< EtherCAT master. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2449
        void *arg, /**< ioctl() argument. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2450
        ec_ioctl_context_t *ctx /**< Private data structure of file handle. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2451
        )
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2452
{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2453
    ec_ioctl_sc_sdo_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2454
    ec_slave_config_t *sc;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2455
    uint8_t *sdo_data = NULL;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2456
    int ret;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2457
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2458
    if (unlikely(!ctx->requested))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2459
        return -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2460
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2461
    if (copy_from_user(&data, (void __user *) arg, sizeof(data)))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2462
        return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2463
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2464
    if (!data.size)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2465
        return -EINVAL;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2466
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2467
    if (!(sdo_data = kmalloc(data.size, GFP_KERNEL))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2468
        return -ENOMEM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2469
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2470
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2471
    if (copy_from_user(sdo_data, (void __user *) data.data, data.size)) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2472
        kfree(sdo_data);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2473
        return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2474
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2475
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2476
    if (down_interruptible(&master->master_sem)) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2477
        kfree(sdo_data);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2478
        return -EINTR;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2479
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2480
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2481
    if (!(sc = ec_master_get_config(master, data.config_index))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2482
        up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2483
        kfree(sdo_data);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2484
        return -ENOENT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2485
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2486
2522
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
  2487
    up(&master->master_sem); /** \todo sc could be invalidated */
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2488
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2489
    if (data.complete_access) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2490
        ret = ecrt_slave_config_complete_sdo(sc,
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2491
                data.index, sdo_data, data.size);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2492
    } else {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2493
        ret = ecrt_slave_config_sdo(sc, data.index, data.subindex, sdo_data,
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2494
                data.size);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2495
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2496
    kfree(sdo_data);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2497
    return ret;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2498
}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2499
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2500
/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2501
2438
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  2502
/** Set the emergency ring buffer size.
2522
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
  2503
 *
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
  2504
 * \return Zero on success, otherwise a negative error code.
2438
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  2505
 */
2481
c99ff159b60d Added function attribute definition.
Florian Pose <fp@igh-essen.com>
parents: 2477
diff changeset
  2506
static ATTRIBUTES int ec_ioctl_sc_emerg_size(
2438
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  2507
        ec_master_t *master, /**< EtherCAT master. */
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  2508
        void *arg, /**< ioctl() argument. */
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  2509
        ec_ioctl_context_t *ctx /**< Private data structure of file handle. */
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  2510
        )
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  2511
{
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  2512
    ec_ioctl_sc_emerg_t io;
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  2513
    ec_slave_config_t *sc;
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  2514
    int ret;
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  2515
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  2516
    if (unlikely(!ctx->requested))
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  2517
        return -EPERM;
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  2518
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  2519
    if (copy_from_user(&io, (void __user *) arg, sizeof(io)))
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  2520
        return -EFAULT;
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  2521
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  2522
    if (down_interruptible(&master->master_sem)) {
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  2523
        return -EINTR;
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  2524
    }
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  2525
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  2526
    if (!(sc = ec_master_get_config(master, io.config_index))) {
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  2527
        up(&master->master_sem);
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  2528
        return -ENOENT;
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  2529
    }
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  2530
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  2531
    ret = ecrt_slave_config_emerg_size(sc, io.size);
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  2532
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  2533
    up(&master->master_sem);
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  2534
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  2535
    return ret;
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  2536
}
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  2537
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  2538
/*****************************************************************************/
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  2539
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  2540
/** Get an emergency message from the ring.
2522
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
  2541
 *
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
  2542
 * \return Zero on success, otherwise a negative error code.
2438
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  2543
 */
2481
c99ff159b60d Added function attribute definition.
Florian Pose <fp@igh-essen.com>
parents: 2477
diff changeset
  2544
static ATTRIBUTES int ec_ioctl_sc_emerg_pop(
2438
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  2545
        ec_master_t *master, /**< EtherCAT master. */
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  2546
        void *arg, /**< ioctl() argument. */
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  2547
        ec_ioctl_context_t *ctx /**< Private data structure of file handle. */
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  2548
        )
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  2549
{
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  2550
    ec_ioctl_sc_emerg_t io;
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  2551
    ec_slave_config_t *sc;
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  2552
    u8 msg[EC_COE_EMERGENCY_MSG_SIZE];
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  2553
    int ret;
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  2554
2484
1cf54e2452c4 Removed unnecessary semaphore uses for emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2483
diff changeset
  2555
    if (unlikely(!ctx->requested)) {
1cf54e2452c4 Removed unnecessary semaphore uses for emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2483
diff changeset
  2556
        return -EPERM;
1cf54e2452c4 Removed unnecessary semaphore uses for emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2483
diff changeset
  2557
    }
1cf54e2452c4 Removed unnecessary semaphore uses for emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2483
diff changeset
  2558
1cf54e2452c4 Removed unnecessary semaphore uses for emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2483
diff changeset
  2559
    if (copy_from_user(&io, (void __user *) arg, sizeof(io))) {
1cf54e2452c4 Removed unnecessary semaphore uses for emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2483
diff changeset
  2560
        return -EFAULT;
1cf54e2452c4 Removed unnecessary semaphore uses for emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2483
diff changeset
  2561
    }
1cf54e2452c4 Removed unnecessary semaphore uses for emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2483
diff changeset
  2562
1cf54e2452c4 Removed unnecessary semaphore uses for emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2483
diff changeset
  2563
    /* no locking of master_sem needed, because configuration will not be
1cf54e2452c4 Removed unnecessary semaphore uses for emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2483
diff changeset
  2564
     * deleted in the meantime. */
2438
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  2565
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  2566
    if (!(sc = ec_master_get_config(master, io.config_index))) {
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  2567
        return -ENOENT;
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  2568
    }
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  2569
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  2570
    ret = ecrt_slave_config_emerg_pop(sc, msg);
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  2571
    if (ret < 0) {
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  2572
        return ret;
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  2573
    }
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  2574
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  2575
    if (copy_to_user((void __user *) io.target, msg, sizeof(msg))) {
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  2576
        return -EFAULT;
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  2577
    }
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  2578
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  2579
    return ret;
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  2580
}
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  2581
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  2582
/*****************************************************************************/
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  2583
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  2584
/** Clear the emergency ring.
2522
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
  2585
 *
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
  2586
 * \return Zero on success, otherwise a negative error code.
2438
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  2587
 */
2481
c99ff159b60d Added function attribute definition.
Florian Pose <fp@igh-essen.com>
parents: 2477
diff changeset
  2588
static ATTRIBUTES int ec_ioctl_sc_emerg_clear(
2438
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  2589
        ec_master_t *master, /**< EtherCAT master. */
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  2590
        void *arg, /**< ioctl() argument. */
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  2591
        ec_ioctl_context_t *ctx /**< Private data structure of file handle. */
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  2592
        )
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  2593
{
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  2594
    ec_ioctl_sc_emerg_t io;
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  2595
    ec_slave_config_t *sc;
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  2596
2484
1cf54e2452c4 Removed unnecessary semaphore uses for emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2483
diff changeset
  2597
    if (unlikely(!ctx->requested)) {
1cf54e2452c4 Removed unnecessary semaphore uses for emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2483
diff changeset
  2598
        return -EPERM;
1cf54e2452c4 Removed unnecessary semaphore uses for emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2483
diff changeset
  2599
    }
1cf54e2452c4 Removed unnecessary semaphore uses for emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2483
diff changeset
  2600
1cf54e2452c4 Removed unnecessary semaphore uses for emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2483
diff changeset
  2601
    if (copy_from_user(&io, (void __user *) arg, sizeof(io))) {
1cf54e2452c4 Removed unnecessary semaphore uses for emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2483
diff changeset
  2602
        return -EFAULT;
1cf54e2452c4 Removed unnecessary semaphore uses for emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2483
diff changeset
  2603
    }
1cf54e2452c4 Removed unnecessary semaphore uses for emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2483
diff changeset
  2604
1cf54e2452c4 Removed unnecessary semaphore uses for emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2483
diff changeset
  2605
    /* no locking of master_sem needed, because configuration will not be
1cf54e2452c4 Removed unnecessary semaphore uses for emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2483
diff changeset
  2606
     * deleted in the meantime. */
2438
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  2607
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  2608
    if (!(sc = ec_master_get_config(master, io.config_index))) {
2484
1cf54e2452c4 Removed unnecessary semaphore uses for emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2483
diff changeset
  2609
        return -ENOENT;
1cf54e2452c4 Removed unnecessary semaphore uses for emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2483
diff changeset
  2610
    }
1cf54e2452c4 Removed unnecessary semaphore uses for emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2483
diff changeset
  2611
1cf54e2452c4 Removed unnecessary semaphore uses for emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2483
diff changeset
  2612
    return ecrt_slave_config_emerg_clear(sc);
2438
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  2613
}
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  2614
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  2615
/*****************************************************************************/
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  2616
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  2617
/** Get the number of emergency overruns.
2522
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
  2618
 *
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
  2619
 * \return Zero on success, otherwise a negative error code.
2438
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  2620
 */
2481
c99ff159b60d Added function attribute definition.
Florian Pose <fp@igh-essen.com>
parents: 2477
diff changeset
  2621
static ATTRIBUTES int ec_ioctl_sc_emerg_overruns(
2438
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  2622
        ec_master_t *master, /**< EtherCAT master. */
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  2623
        void *arg, /**< ioctl() argument. */
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  2624
        ec_ioctl_context_t *ctx /**< Private data structure of file handle. */
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  2625
        )
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  2626
{
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  2627
    ec_ioctl_sc_emerg_t io;
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  2628
    ec_slave_config_t *sc;
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  2629
    int ret;
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  2630
2484
1cf54e2452c4 Removed unnecessary semaphore uses for emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2483
diff changeset
  2631
    if (unlikely(!ctx->requested)) {
1cf54e2452c4 Removed unnecessary semaphore uses for emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2483
diff changeset
  2632
        return -EPERM;
1cf54e2452c4 Removed unnecessary semaphore uses for emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2483
diff changeset
  2633
    }
1cf54e2452c4 Removed unnecessary semaphore uses for emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2483
diff changeset
  2634
1cf54e2452c4 Removed unnecessary semaphore uses for emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2483
diff changeset
  2635
    if (copy_from_user(&io, (void __user *) arg, sizeof(io))) {
1cf54e2452c4 Removed unnecessary semaphore uses for emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2483
diff changeset
  2636
        return -EFAULT;
1cf54e2452c4 Removed unnecessary semaphore uses for emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2483
diff changeset
  2637
    }
1cf54e2452c4 Removed unnecessary semaphore uses for emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2483
diff changeset
  2638
1cf54e2452c4 Removed unnecessary semaphore uses for emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2483
diff changeset
  2639
    /* no locking of master_sem needed, because configuration will not be
1cf54e2452c4 Removed unnecessary semaphore uses for emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2483
diff changeset
  2640
     * deleted in the meantime. */
2438
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  2641
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  2642
    if (!(sc = ec_master_get_config(master, io.config_index))) {
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  2643
        return -ENOENT;
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  2644
    }
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  2645
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  2646
    ret = ecrt_slave_config_emerg_overruns(sc);
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  2647
    if (ret < 0) {
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  2648
        return ret;
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  2649
    }
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  2650
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  2651
    io.overruns = ret;
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  2652
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  2653
    if (copy_to_user((void __user *) arg, &io, sizeof(io))) {
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  2654
        return -EFAULT;
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  2655
    }
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  2656
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  2657
    return 0;
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  2658
}
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  2659
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  2660
/*****************************************************************************/
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  2661
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2662
/** Create an SDO request.
2522
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
  2663
 *
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
  2664
 * \return Zero on success, otherwise a negative error code.
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2665
 */
2481
c99ff159b60d Added function attribute definition.
Florian Pose <fp@igh-essen.com>
parents: 2477
diff changeset
  2666
static ATTRIBUTES int ec_ioctl_sc_create_sdo_request(
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2667
        ec_master_t *master, /**< EtherCAT master. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2668
        void *arg, /**< ioctl() argument. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2669
        ec_ioctl_context_t *ctx /**< Private data structure of file handle. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2670
        )
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2671
{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2672
    ec_ioctl_sdo_request_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2673
    ec_slave_config_t *sc;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2674
    ec_sdo_request_t *req;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2675
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2676
    if (unlikely(!ctx->requested))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2677
        return -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2678
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2679
    if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2680
        return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2681
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2682
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2683
    data.request_index = 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2684
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2685
    if (down_interruptible(&master->master_sem))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2686
        return -EINTR;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2687
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2688
    sc = ec_master_get_config(master, data.config_index);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2689
    if (!sc) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2690
        up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2691
        return -ENOENT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2692
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2693
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2694
    list_for_each_entry(req, &sc->sdo_requests, list) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2695
        data.request_index++;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2696
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2697
2522
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
  2698
    up(&master->master_sem); /** \todo sc could be invalidated */
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2699
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2700
    req = ecrt_slave_config_create_sdo_request_err(sc, data.sdo_index,
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2701
            data.sdo_subindex, data.size);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2702
    if (IS_ERR(req))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2703
        return PTR_ERR(req);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2704
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2705
    if (copy_to_user((void __user *) arg, &data, sizeof(data)))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2706
        return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2707
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2708
    return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2709
}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2710
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2711
/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2712
2443
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  2713
/** Create a register request.
2522
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
  2714
 *
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
  2715
 * \return Zero on success, otherwise a negative error code.
2443
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  2716
 */
2481
c99ff159b60d Added function attribute definition.
Florian Pose <fp@igh-essen.com>
parents: 2477
diff changeset
  2717
static ATTRIBUTES int ec_ioctl_sc_create_reg_request(
2443
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  2718
        ec_master_t *master, /**< EtherCAT master. */
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  2719
        void *arg, /**< ioctl() argument. */
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  2720
        ec_ioctl_context_t *ctx /**< Private data structure of file handle. */
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  2721
        )
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  2722
{
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  2723
    ec_ioctl_reg_request_t io;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  2724
    ec_slave_config_t *sc;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  2725
    ec_reg_request_t *reg;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  2726
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  2727
    if (unlikely(!ctx->requested)) {
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  2728
        return -EPERM;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  2729
    }
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  2730
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  2731
    if (copy_from_user(&io, (void __user *) arg, sizeof(io))) {
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  2732
        return -EFAULT;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  2733
    }
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  2734
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  2735
    io.request_index = 0;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  2736
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  2737
    if (down_interruptible(&master->master_sem)) {
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  2738
        return -EINTR;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  2739
    }
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  2740
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  2741
    sc = ec_master_get_config(master, io.config_index);
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  2742
    if (!sc) {
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  2743
        up(&master->master_sem);
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  2744
        return -ENOENT;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  2745
    }
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  2746
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  2747
    list_for_each_entry(reg, &sc->reg_requests, list) {
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  2748
        io.request_index++;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  2749
    }
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  2750
2522
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
  2751
    up(&master->master_sem); /** \todo sc could be invalidated */
2443
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  2752
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  2753
    reg = ecrt_slave_config_create_reg_request_err(sc, io.mem_size);
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  2754
    if (IS_ERR(reg)) {
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  2755
        return PTR_ERR(reg);
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  2756
    }
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  2757
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  2758
    if (copy_to_user((void __user *) arg, &io, sizeof(io))) {
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  2759
        return -EFAULT;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  2760
    }
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  2761
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  2762
    return 0;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  2763
}
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  2764
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  2765
/*****************************************************************************/
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  2766
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2767
/** Create a VoE handler.
2522
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
  2768
 *
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
  2769
 * \return Zero on success, otherwise a negative error code.
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2770
 */
2481
c99ff159b60d Added function attribute definition.
Florian Pose <fp@igh-essen.com>
parents: 2477
diff changeset
  2771
static ATTRIBUTES int ec_ioctl_sc_create_voe_handler(
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2772
        ec_master_t *master, /**< EtherCAT master. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2773
        void *arg, /**< ioctl() argument. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2774
        ec_ioctl_context_t *ctx /**< Private data structure of file handle. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2775
        )
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2776
{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2777
    ec_ioctl_voe_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2778
    ec_slave_config_t *sc;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2779
    ec_voe_handler_t *voe;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2780
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2781
    if (unlikely(!ctx->requested))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2782
        return -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2783
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2784
    if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2785
        return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2786
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2787
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2788
    data.voe_index = 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2789
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2790
    if (down_interruptible(&master->master_sem))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2791
        return -EINTR;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2792
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2793
    sc = ec_master_get_config(master, data.config_index);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2794
    if (!sc) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2795
        up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2796
        return -ENOENT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2797
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2798
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2799
    list_for_each_entry(voe, &sc->voe_handlers, list) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2800
        data.voe_index++;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2801
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2802
2522
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
  2803
    up(&master->master_sem); /** \todo sc could be invalidated */
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2804
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2805
    voe = ecrt_slave_config_create_voe_handler_err(sc, data.size);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2806
    if (IS_ERR(voe))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2807
        return PTR_ERR(voe);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2808
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2809
    if (copy_to_user((void __user *) arg, &data, sizeof(data)))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2810
        return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2811
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2812
    return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2813
}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2814
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2815
/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2816
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2817
/** Get the slave configuration's state.
2522
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
  2818
 *
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
  2819
 * \return Zero on success, otherwise a negative error code.
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2820
 */
2481
c99ff159b60d Added function attribute definition.
Florian Pose <fp@igh-essen.com>
parents: 2477
diff changeset
  2821
static ATTRIBUTES int ec_ioctl_sc_state(
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2822
        ec_master_t *master, /**< EtherCAT master. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2823
        void *arg, /**< ioctl() argument. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2824
        ec_ioctl_context_t *ctx /**< Private data structure of file handle. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2825
        )
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2826
{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2827
    ec_ioctl_sc_state_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2828
    const ec_slave_config_t *sc;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2829
    ec_slave_config_state_t state;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2830
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2831
    if (unlikely(!ctx->requested))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2832
        return -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2833
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2834
    if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2835
        return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2836
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2837
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2838
    /* no locking of master_sem needed, because sc will not be deleted in the
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2839
     * meantime. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2840
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2841
    if (!(sc = ec_master_get_config_const(master, data.config_index))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2842
        return -ENOENT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2843
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2844
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2845
    ecrt_slave_config_state(sc, &state);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2846
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2847
    if (copy_to_user((void __user *) data.state, &state, sizeof(state)))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2848
        return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2849
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2850
    return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2851
}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2852
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2853
/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2854
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2855
/** Configures an IDN.
2522
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
  2856
 *
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
  2857
 * \return Zero on success, otherwise a negative error code.
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2858
 */
2481
c99ff159b60d Added function attribute definition.
Florian Pose <fp@igh-essen.com>
parents: 2477
diff changeset
  2859
static ATTRIBUTES int ec_ioctl_sc_idn(
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2860
        ec_master_t *master, /**< EtherCAT master. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2861
        void *arg, /**< ioctl() argument. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2862
        ec_ioctl_context_t *ctx /**< Private data structure of file handle. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2863
        )
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2864
{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2865
    ec_ioctl_sc_idn_t ioctl;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2866
    ec_slave_config_t *sc;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2867
    uint8_t *data = NULL;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2868
    int ret;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2869
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2870
    if (unlikely(!ctx->requested))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2871
        return -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2872
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2873
    if (copy_from_user(&ioctl, (void __user *) arg, sizeof(ioctl)))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2874
        return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2875
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2876
    if (!ioctl.size)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2877
        return -EINVAL;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2878
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2879
    if (!(data = kmalloc(ioctl.size, GFP_KERNEL))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2880
        return -ENOMEM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2881
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2882
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2883
    if (copy_from_user(data, (void __user *) ioctl.data, ioctl.size)) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2884
        kfree(data);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2885
        return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2886
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2887
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2888
    if (down_interruptible(&master->master_sem)) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2889
        kfree(data);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2890
        return -EINTR;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2891
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2892
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2893
    if (!(sc = ec_master_get_config(master, ioctl.config_index))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2894
        up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2895
        kfree(data);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2896
        return -ENOENT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2897
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2898
2522
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
  2899
    up(&master->master_sem); /** \todo sc could be invalidated */
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2900
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2901
    ret = ecrt_slave_config_idn(
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2902
            sc, ioctl.drive_no, ioctl.idn, ioctl.al_state, data, ioctl.size);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2903
    kfree(data);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2904
    return ret;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2905
}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2906
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2907
/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2908
2504
5ef9d5b14879 Exported ecrt_domain_size() for userspace.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
  2909
/** Gets the domain's data size.
2522
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
  2910
 *
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
  2911
 * \return Domain size, or a negative error code.
2504
5ef9d5b14879 Exported ecrt_domain_size() for userspace.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
  2912
 */
5ef9d5b14879 Exported ecrt_domain_size() for userspace.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
  2913
static ATTRIBUTES int ec_ioctl_domain_size(
5ef9d5b14879 Exported ecrt_domain_size() for userspace.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
  2914
        ec_master_t *master, /**< EtherCAT master. */
5ef9d5b14879 Exported ecrt_domain_size() for userspace.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
  2915
        void *arg, /**< ioctl() argument. */
5ef9d5b14879 Exported ecrt_domain_size() for userspace.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
  2916
        ec_ioctl_context_t *ctx /**< Private data structure of file handle. */
5ef9d5b14879 Exported ecrt_domain_size() for userspace.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
  2917
        )
5ef9d5b14879 Exported ecrt_domain_size() for userspace.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
  2918
{
5ef9d5b14879 Exported ecrt_domain_size() for userspace.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
  2919
    const ec_domain_t *domain;
5ef9d5b14879 Exported ecrt_domain_size() for userspace.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
  2920
5ef9d5b14879 Exported ecrt_domain_size() for userspace.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
  2921
    if (unlikely(!ctx->requested)) {
5ef9d5b14879 Exported ecrt_domain_size() for userspace.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
  2922
        return -EPERM;
5ef9d5b14879 Exported ecrt_domain_size() for userspace.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
  2923
    }
5ef9d5b14879 Exported ecrt_domain_size() for userspace.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
  2924
5ef9d5b14879 Exported ecrt_domain_size() for userspace.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
  2925
    if (down_interruptible(&master->master_sem)) {
5ef9d5b14879 Exported ecrt_domain_size() for userspace.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
  2926
        return -EINTR;
5ef9d5b14879 Exported ecrt_domain_size() for userspace.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
  2927
    }
5ef9d5b14879 Exported ecrt_domain_size() for userspace.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
  2928
5ef9d5b14879 Exported ecrt_domain_size() for userspace.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
  2929
    list_for_each_entry(domain, &master->domains, list) {
5ef9d5b14879 Exported ecrt_domain_size() for userspace.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
  2930
        if (domain->index == (unsigned long) arg) {
5ef9d5b14879 Exported ecrt_domain_size() for userspace.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
  2931
            size_t size = ecrt_domain_size(domain);
5ef9d5b14879 Exported ecrt_domain_size() for userspace.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
  2932
            up(&master->master_sem);
5ef9d5b14879 Exported ecrt_domain_size() for userspace.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
  2933
            return size;
5ef9d5b14879 Exported ecrt_domain_size() for userspace.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
  2934
        }
5ef9d5b14879 Exported ecrt_domain_size() for userspace.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
  2935
    }
5ef9d5b14879 Exported ecrt_domain_size() for userspace.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
  2936
5ef9d5b14879 Exported ecrt_domain_size() for userspace.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
  2937
    up(&master->master_sem);
5ef9d5b14879 Exported ecrt_domain_size() for userspace.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
  2938
    return -ENOENT;
5ef9d5b14879 Exported ecrt_domain_size() for userspace.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
  2939
}
5ef9d5b14879 Exported ecrt_domain_size() for userspace.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
  2940
5ef9d5b14879 Exported ecrt_domain_size() for userspace.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
  2941
/*****************************************************************************/
5ef9d5b14879 Exported ecrt_domain_size() for userspace.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
  2942
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2943
/** Gets the domain's offset in the total process data.
2522
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
  2944
 *
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
  2945
 * \return Domain offset, or a negative error code.
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2946
 */
2481
c99ff159b60d Added function attribute definition.
Florian Pose <fp@igh-essen.com>
parents: 2477
diff changeset
  2947
static ATTRIBUTES int ec_ioctl_domain_offset(
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2948
        ec_master_t *master, /**< EtherCAT master. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2949
        void *arg, /**< ioctl() argument. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2950
        ec_ioctl_context_t *ctx /**< Private data structure of file handle. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2951
        )
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2952
{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2953
    int offset = 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2954
    const ec_domain_t *domain;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2955
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2956
    if (unlikely(!ctx->requested))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2957
        return -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2958
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2959
    if (down_interruptible(&master->master_sem)) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2960
        return -EINTR;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2961
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2962
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2963
    list_for_each_entry(domain, &master->domains, list) {
2487
ccafdf1e261f Fixed some warnings on 64 bit systems.
Florian Pose <fp@igh-essen.com>
parents: 2486
diff changeset
  2964
        if (domain->index == (unsigned long) arg) {
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2965
            up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2966
            return offset;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2967
        }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2968
        offset += ecrt_domain_size(domain);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2969
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2970
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2971
    up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2972
    return -ENOENT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2973
}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2974
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2975
/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2976
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2977
/** Process the domain.
2522
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
  2978
 *
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
  2979
 * \return Zero on success, otherwise a negative error code.
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2980
 */
2481
c99ff159b60d Added function attribute definition.
Florian Pose <fp@igh-essen.com>
parents: 2477
diff changeset
  2981
static ATTRIBUTES int ec_ioctl_domain_process(
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2982
        ec_master_t *master, /**< EtherCAT master. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2983
        void *arg, /**< ioctl() argument. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2984
        ec_ioctl_context_t *ctx /**< Private data structure of file handle. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2985
        )
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2986
{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2987
    ec_domain_t *domain;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2988
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2989
    if (unlikely(!ctx->requested))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2990
        return -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2991
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2992
    /* no locking of master_sem needed, because domain will not be deleted in
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2993
     * the meantime. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2994
2487
ccafdf1e261f Fixed some warnings on 64 bit systems.
Florian Pose <fp@igh-essen.com>
parents: 2486
diff changeset
  2995
    if (!(domain = ec_master_find_domain(master, (unsigned long) arg))) {
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2996
        return -ENOENT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2997
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2998
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2999
    ecrt_domain_process(domain);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3000
    return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3001
}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3002
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3003
/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3004
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3005
/** Queue the domain.
2522
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
  3006
 *
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
  3007
 * \return Zero on success, otherwise a negative error code.
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3008
 */
2481
c99ff159b60d Added function attribute definition.
Florian Pose <fp@igh-essen.com>
parents: 2477
diff changeset
  3009
static ATTRIBUTES int ec_ioctl_domain_queue(
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3010
        ec_master_t *master, /**< EtherCAT master. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3011
        void *arg, /**< ioctl() argument. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3012
        ec_ioctl_context_t *ctx /**< Private data structure of file handle. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3013
        )
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3014
{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3015
    ec_domain_t *domain;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3016
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3017
    if (unlikely(!ctx->requested))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3018
        return -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3019
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3020
    /* no locking of master_sem needed, because domain will not be deleted in
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3021
     * the meantime. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3022
2487
ccafdf1e261f Fixed some warnings on 64 bit systems.
Florian Pose <fp@igh-essen.com>
parents: 2486
diff changeset
  3023
    if (!(domain = ec_master_find_domain(master, (unsigned long) arg))) {
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3024
        return -ENOENT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3025
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3026
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3027
    ecrt_domain_queue(domain);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3028
    return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3029
}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3030
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3031
/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3032
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3033
/** Get the domain state.
2522
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
  3034
 *
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
  3035
 * \return Zero on success, otherwise a negative error code.
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3036
 */
2481
c99ff159b60d Added function attribute definition.
Florian Pose <fp@igh-essen.com>
parents: 2477
diff changeset
  3037
static ATTRIBUTES int ec_ioctl_domain_state(
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3038
        ec_master_t *master, /**< EtherCAT master. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3039
        void *arg, /**< ioctl() argument. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3040
        ec_ioctl_context_t *ctx /**< Private data structure of file handle. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3041
        )
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3042
{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3043
    ec_ioctl_domain_state_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3044
    const ec_domain_t *domain;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3045
    ec_domain_state_t state;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3046
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3047
    if (unlikely(!ctx->requested))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3048
        return -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3049
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3050
    if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3051
        return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3052
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3053
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3054
    /* no locking of master_sem needed, because domain will not be deleted in
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3055
     * the meantime. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3056
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3057
    if (!(domain = ec_master_find_domain_const(master, data.domain_index))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3058
        return -ENOENT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3059
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3060
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3061
    ecrt_domain_state(domain, &state);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3062
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3063
    if (copy_to_user((void __user *) data.state, &state, sizeof(state)))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3064
        return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3065
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3066
    return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3067
}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3068
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3069
/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3070
2434
fa52128477f6 Added ecrt_sdo_request_index() method to change index and subindex.
Florian Pose <fp@igh-essen.com>
parents: 2433
diff changeset
  3071
/** Sets an SDO request's SDO index and subindex.
2522
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
  3072
 *
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
  3073
 * \return Zero on success, otherwise a negative error code.
2434
fa52128477f6 Added ecrt_sdo_request_index() method to change index and subindex.
Florian Pose <fp@igh-essen.com>
parents: 2433
diff changeset
  3074
 */
2481
c99ff159b60d Added function attribute definition.
Florian Pose <fp@igh-essen.com>
parents: 2477
diff changeset
  3075
static ATTRIBUTES int ec_ioctl_sdo_request_index(
2434
fa52128477f6 Added ecrt_sdo_request_index() method to change index and subindex.
Florian Pose <fp@igh-essen.com>
parents: 2433
diff changeset
  3076
        ec_master_t *master, /**< EtherCAT master. */
fa52128477f6 Added ecrt_sdo_request_index() method to change index and subindex.
Florian Pose <fp@igh-essen.com>
parents: 2433
diff changeset
  3077
        void *arg, /**< ioctl() argument. */
fa52128477f6 Added ecrt_sdo_request_index() method to change index and subindex.
Florian Pose <fp@igh-essen.com>
parents: 2433
diff changeset
  3078
        ec_ioctl_context_t *ctx /**< Private data structure of file handle. */
fa52128477f6 Added ecrt_sdo_request_index() method to change index and subindex.
Florian Pose <fp@igh-essen.com>
parents: 2433
diff changeset
  3079
        )
fa52128477f6 Added ecrt_sdo_request_index() method to change index and subindex.
Florian Pose <fp@igh-essen.com>
parents: 2433
diff changeset
  3080
{
fa52128477f6 Added ecrt_sdo_request_index() method to change index and subindex.
Florian Pose <fp@igh-essen.com>
parents: 2433
diff changeset
  3081
    ec_ioctl_sdo_request_t data;
fa52128477f6 Added ecrt_sdo_request_index() method to change index and subindex.
Florian Pose <fp@igh-essen.com>
parents: 2433
diff changeset
  3082
    ec_slave_config_t *sc;
fa52128477f6 Added ecrt_sdo_request_index() method to change index and subindex.
Florian Pose <fp@igh-essen.com>
parents: 2433
diff changeset
  3083
    ec_sdo_request_t *req;
fa52128477f6 Added ecrt_sdo_request_index() method to change index and subindex.
Florian Pose <fp@igh-essen.com>
parents: 2433
diff changeset
  3084
fa52128477f6 Added ecrt_sdo_request_index() method to change index and subindex.
Florian Pose <fp@igh-essen.com>
parents: 2433
diff changeset
  3085
    if (unlikely(!ctx->requested))
fa52128477f6 Added ecrt_sdo_request_index() method to change index and subindex.
Florian Pose <fp@igh-essen.com>
parents: 2433
diff changeset
  3086
        return -EPERM;
fa52128477f6 Added ecrt_sdo_request_index() method to change index and subindex.
Florian Pose <fp@igh-essen.com>
parents: 2433
diff changeset
  3087
fa52128477f6 Added ecrt_sdo_request_index() method to change index and subindex.
Florian Pose <fp@igh-essen.com>
parents: 2433
diff changeset
  3088
    if (copy_from_user(&data, (void __user *) arg, sizeof(data)))
fa52128477f6 Added ecrt_sdo_request_index() method to change index and subindex.
Florian Pose <fp@igh-essen.com>
parents: 2433
diff changeset
  3089
        return -EFAULT;
fa52128477f6 Added ecrt_sdo_request_index() method to change index and subindex.
Florian Pose <fp@igh-essen.com>
parents: 2433
diff changeset
  3090
fa52128477f6 Added ecrt_sdo_request_index() method to change index and subindex.
Florian Pose <fp@igh-essen.com>
parents: 2433
diff changeset
  3091
    /* no locking of master_sem needed, because neither sc nor req will not be
fa52128477f6 Added ecrt_sdo_request_index() method to change index and subindex.
Florian Pose <fp@igh-essen.com>
parents: 2433
diff changeset
  3092
     * deleted in the meantime. */
fa52128477f6 Added ecrt_sdo_request_index() method to change index and subindex.
Florian Pose <fp@igh-essen.com>
parents: 2433
diff changeset
  3093
fa52128477f6 Added ecrt_sdo_request_index() method to change index and subindex.
Florian Pose <fp@igh-essen.com>
parents: 2433
diff changeset
  3094
    if (!(sc = ec_master_get_config(master, data.config_index))) {
fa52128477f6 Added ecrt_sdo_request_index() method to change index and subindex.
Florian Pose <fp@igh-essen.com>
parents: 2433
diff changeset
  3095
        return -ENOENT;
fa52128477f6 Added ecrt_sdo_request_index() method to change index and subindex.
Florian Pose <fp@igh-essen.com>
parents: 2433
diff changeset
  3096
    }
fa52128477f6 Added ecrt_sdo_request_index() method to change index and subindex.
Florian Pose <fp@igh-essen.com>
parents: 2433
diff changeset
  3097
fa52128477f6 Added ecrt_sdo_request_index() method to change index and subindex.
Florian Pose <fp@igh-essen.com>
parents: 2433
diff changeset
  3098
    if (!(req = ec_slave_config_find_sdo_request(sc, data.request_index))) {
fa52128477f6 Added ecrt_sdo_request_index() method to change index and subindex.
Florian Pose <fp@igh-essen.com>
parents: 2433
diff changeset
  3099
        return -ENOENT;
fa52128477f6 Added ecrt_sdo_request_index() method to change index and subindex.
Florian Pose <fp@igh-essen.com>
parents: 2433
diff changeset
  3100
    }
fa52128477f6 Added ecrt_sdo_request_index() method to change index and subindex.
Florian Pose <fp@igh-essen.com>
parents: 2433
diff changeset
  3101
fa52128477f6 Added ecrt_sdo_request_index() method to change index and subindex.
Florian Pose <fp@igh-essen.com>
parents: 2433
diff changeset
  3102
    ecrt_sdo_request_index(req, data.sdo_index, data.sdo_subindex);
fa52128477f6 Added ecrt_sdo_request_index() method to change index and subindex.
Florian Pose <fp@igh-essen.com>
parents: 2433
diff changeset
  3103
    return 0;
fa52128477f6 Added ecrt_sdo_request_index() method to change index and subindex.
Florian Pose <fp@igh-essen.com>
parents: 2433
diff changeset
  3104
}
fa52128477f6 Added ecrt_sdo_request_index() method to change index and subindex.
Florian Pose <fp@igh-essen.com>
parents: 2433
diff changeset
  3105
fa52128477f6 Added ecrt_sdo_request_index() method to change index and subindex.
Florian Pose <fp@igh-essen.com>
parents: 2433
diff changeset
  3106
/*****************************************************************************/
fa52128477f6 Added ecrt_sdo_request_index() method to change index and subindex.
Florian Pose <fp@igh-essen.com>
parents: 2433
diff changeset
  3107
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3108
/** Sets an SDO request's timeout.
2522
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
  3109
 *
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
  3110
 * \return Zero on success, otherwise a negative error code.
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3111
 */
2481
c99ff159b60d Added function attribute definition.
Florian Pose <fp@igh-essen.com>
parents: 2477
diff changeset
  3112
static ATTRIBUTES int ec_ioctl_sdo_request_timeout(
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3113
        ec_master_t *master, /**< EtherCAT master. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3114
        void *arg, /**< ioctl() argument. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3115
        ec_ioctl_context_t *ctx /**< Private data structure of file handle. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3116
        )
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3117
{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3118
    ec_ioctl_sdo_request_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3119
    ec_slave_config_t *sc;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3120
    ec_sdo_request_t *req;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3121
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3122
    if (unlikely(!ctx->requested))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3123
        return -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3124
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3125
    if (copy_from_user(&data, (void __user *) arg, sizeof(data)))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3126
        return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3127
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3128
    /* no locking of master_sem needed, because neither sc nor req will not be
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3129
     * deleted in the meantime. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3130
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3131
    if (!(sc = ec_master_get_config(master, data.config_index))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3132
        return -ENOENT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3133
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3134
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3135
    if (!(req = ec_slave_config_find_sdo_request(sc, data.request_index))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3136
        return -ENOENT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3137
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3138
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3139
    ecrt_sdo_request_timeout(req, data.timeout);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3140
    return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3141
}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3142
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3143
/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3144
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3145
/** Gets an SDO request's state.
2522
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
  3146
 *
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
  3147
 * \return Zero on success, otherwise a negative error code.
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3148
 */
2481
c99ff159b60d Added function attribute definition.
Florian Pose <fp@igh-essen.com>
parents: 2477
diff changeset
  3149
static ATTRIBUTES int ec_ioctl_sdo_request_state(
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3150
        ec_master_t *master, /**< EtherCAT master. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3151
        void *arg, /**< ioctl() argument. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3152
        ec_ioctl_context_t *ctx /**< Private data structure of file handle. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3153
        )
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3154
{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3155
    ec_ioctl_sdo_request_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3156
    ec_slave_config_t *sc;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3157
    ec_sdo_request_t *req;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3158
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3159
    if (unlikely(!ctx->requested))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3160
        return -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3161
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3162
    if (copy_from_user(&data, (void __user *) arg, sizeof(data)))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3163
        return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3164
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3165
    /* no locking of master_sem needed, because neither sc nor req will not be
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3166
     * deleted in the meantime. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3167
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3168
    if (!(sc = ec_master_get_config(master, data.config_index))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3169
        return -ENOENT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3170
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3171
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3172
    if (!(req = ec_slave_config_find_sdo_request(sc, data.request_index))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3173
        return -ENOENT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3174
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3175
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3176
    data.state = ecrt_sdo_request_state(req);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3177
    if (data.state == EC_REQUEST_SUCCESS && req->dir == EC_DIR_INPUT)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3178
        data.size = ecrt_sdo_request_data_size(req);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3179
    else
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3180
        data.size = 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3181
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3182
    if (copy_to_user((void __user *) arg, &data, sizeof(data)))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3183
        return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3184
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3185
    return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3186
}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3187
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3188
/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3189
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3190
/** Starts an SDO read operation.
2522
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
  3191
 *
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
  3192
 * \return Zero on success, otherwise a negative error code.
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3193
 */
2481
c99ff159b60d Added function attribute definition.
Florian Pose <fp@igh-essen.com>
parents: 2477
diff changeset
  3194
static ATTRIBUTES int ec_ioctl_sdo_request_read(
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3195
        ec_master_t *master, /**< EtherCAT master. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3196
        void *arg, /**< ioctl() argument. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3197
        ec_ioctl_context_t *ctx /**< Private data structure of file handle. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3198
        )
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3199
{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3200
    ec_ioctl_sdo_request_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3201
    ec_slave_config_t *sc;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3202
    ec_sdo_request_t *req;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3203
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3204
    if (unlikely(!ctx->requested))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3205
        return -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3206
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3207
    if (copy_from_user(&data, (void __user *) arg, sizeof(data)))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3208
        return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3209
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3210
    /* no locking of master_sem needed, because neither sc nor req will not be
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3211
     * deleted in the meantime. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3212
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3213
    if (!(sc = ec_master_get_config(master, data.config_index))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3214
        return -ENOENT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3215
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3216
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3217
    if (!(req = ec_slave_config_find_sdo_request(sc, data.request_index))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3218
        return -ENOENT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3219
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3220
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3221
    ecrt_sdo_request_read(req);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3222
    return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3223
}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3224
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3225
/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3226
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3227
/** Starts an SDO write operation.
2522
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
  3228
 *
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
  3229
 * \return Zero on success, otherwise a negative error code.
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3230
 */
2481
c99ff159b60d Added function attribute definition.
Florian Pose <fp@igh-essen.com>
parents: 2477
diff changeset
  3231
static ATTRIBUTES int ec_ioctl_sdo_request_write(
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3232
        ec_master_t *master, /**< EtherCAT master. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3233
        void *arg, /**< ioctl() argument. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3234
        ec_ioctl_context_t *ctx /**< Private data structure of file handle. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3235
        )
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3236
{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3237
    ec_ioctl_sdo_request_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3238
    ec_slave_config_t *sc;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3239
    ec_sdo_request_t *req;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3240
    int ret;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3241
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3242
    if (unlikely(!ctx->requested))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3243
        return -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3244
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3245
    if (copy_from_user(&data, (void __user *) arg, sizeof(data)))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3246
        return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3247
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3248
    if (!data.size) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3249
        EC_MASTER_ERR(master, "SDO download: Data size may not be zero!\n");
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3250
        return -EINVAL;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3251
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3252
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3253
    /* no locking of master_sem needed, because neither sc nor req will not be
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3254
     * deleted in the meantime. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3255
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3256
    if (!(sc = ec_master_get_config(master, data.config_index))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3257
        return -ENOENT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3258
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3259
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3260
    if (!(req = ec_slave_config_find_sdo_request(sc, data.request_index))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3261
        return -ENOENT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3262
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3263
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3264
    ret = ec_sdo_request_alloc(req, data.size);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3265
    if (ret)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3266
        return ret;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3267
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3268
    if (copy_from_user(req->data, (void __user *) data.data, data.size))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3269
        return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3270
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3271
    req->data_size = data.size;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3272
    ecrt_sdo_request_write(req);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3273
    return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3274
}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3275
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3276
/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3277
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3278
/** Read SDO data.
2522
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
  3279
 *
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
  3280
 * \return Zero on success, otherwise a negative error code.
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3281
 */
2481
c99ff159b60d Added function attribute definition.
Florian Pose <fp@igh-essen.com>
parents: 2477
diff changeset
  3282
static ATTRIBUTES int ec_ioctl_sdo_request_data(
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3283
        ec_master_t *master, /**< EtherCAT master. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3284
        void *arg, /**< ioctl() argument. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3285
        ec_ioctl_context_t *ctx /**< Private data structure of file handle. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3286
        )
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3287
{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3288
    ec_ioctl_sdo_request_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3289
    ec_slave_config_t *sc;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3290
    ec_sdo_request_t *req;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3291
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3292
    if (unlikely(!ctx->requested))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3293
        return -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3294
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3295
    if (copy_from_user(&data, (void __user *) arg, sizeof(data)))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3296
        return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3297
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3298
    /* no locking of master_sem needed, because neither sc nor req will not be
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3299
     * deleted in the meantime. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3300
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3301
    if (!(sc = ec_master_get_config(master, data.config_index))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3302
        return -ENOENT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3303
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3304
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3305
    if (!(req = ec_slave_config_find_sdo_request(sc, data.request_index))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3306
        return -ENOENT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3307
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3308
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3309
    if (copy_to_user((void __user *) data.data, ecrt_sdo_request_data(req),
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3310
                ecrt_sdo_request_data_size(req)))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3311
        return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3312
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3313
    return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3314
}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3315
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3316
/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3317
2443
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3318
/** Read register data.
2522
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
  3319
 *
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
  3320
 * \return Zero on success, otherwise a negative error code.
2443
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3321
 */
2481
c99ff159b60d Added function attribute definition.
Florian Pose <fp@igh-essen.com>
parents: 2477
diff changeset
  3322
static ATTRIBUTES int ec_ioctl_reg_request_data(
2443
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3323
        ec_master_t *master, /**< EtherCAT master. */
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3324
        void *arg, /**< ioctl() argument. */
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3325
        ec_ioctl_context_t *ctx /**< Private data structure of file handle. */
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3326
        )
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3327
{
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3328
    ec_ioctl_reg_request_t io;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3329
    ec_slave_config_t *sc;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3330
    ec_reg_request_t *reg;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3331
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3332
    if (unlikely(!ctx->requested)) {
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3333
        return -EPERM;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3334
    }
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3335
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3336
    if (copy_from_user(&io, (void __user *) arg, sizeof(io))) {
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3337
        return -EFAULT;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3338
    }
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3339
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3340
    if (io.mem_size <= 0) {
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3341
        return 0;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3342
    }
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3343
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3344
    /* no locking of master_sem needed, because neither sc nor reg will not be
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3345
     * deleted in the meantime. */
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3346
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3347
    if (!(sc = ec_master_get_config(master, io.config_index))) {
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3348
        return -ENOENT;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3349
    }
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3350
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3351
    if (!(reg = ec_slave_config_find_reg_request(sc, io.request_index))) {
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3352
        return -ENOENT;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3353
    }
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3354
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3355
    if (copy_to_user((void __user *) io.data, ecrt_reg_request_data(reg),
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3356
                min(reg->mem_size, io.mem_size))) {
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3357
        return -EFAULT;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3358
    }
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3359
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3360
    return 0;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3361
}
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3362
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3363
/*****************************************************************************/
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3364
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3365
/** Gets an register request's state.
2522
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
  3366
 *
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
  3367
 * \return Zero on success, otherwise a negative error code.
2443
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3368
 */
2481
c99ff159b60d Added function attribute definition.
Florian Pose <fp@igh-essen.com>
parents: 2477
diff changeset
  3369
static ATTRIBUTES int ec_ioctl_reg_request_state(
2443
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3370
        ec_master_t *master, /**< EtherCAT master. */
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3371
        void *arg, /**< ioctl() argument. */
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3372
        ec_ioctl_context_t *ctx /**< Private data structure of file handle. */
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3373
        )
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3374
{
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3375
    ec_ioctl_reg_request_t io;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3376
    ec_slave_config_t *sc;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3377
    ec_reg_request_t *reg;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3378
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3379
    if (unlikely(!ctx->requested)) {
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3380
        return -EPERM;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3381
    }
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3382
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3383
    if (copy_from_user(&io, (void __user *) arg, sizeof(io))) {
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3384
        return -EFAULT;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3385
    }
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3386
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3387
    /* no locking of master_sem needed, because neither sc nor reg will not be
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3388
     * deleted in the meantime. */
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3389
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3390
    if (!(sc = ec_master_get_config(master, io.config_index))) {
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3391
        return -ENOENT;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3392
    }
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3393
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3394
    if (!(reg = ec_slave_config_find_reg_request(sc, io.request_index))) {
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3395
        return -ENOENT;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3396
    }
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3397
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3398
    io.state = ecrt_reg_request_state(reg);
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3399
    io.new_data = io.state == EC_REQUEST_SUCCESS && reg->dir == EC_DIR_INPUT;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3400
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3401
    if (copy_to_user((void __user *) arg, &io, sizeof(io))) {
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3402
        return -EFAULT;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3403
    }
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3404
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3405
    return 0;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3406
}
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3407
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3408
/*****************************************************************************/
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3409
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3410
/** Starts an register write operation.
2522
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
  3411
 *
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
  3412
 * \return Zero on success, otherwise a negative error code.
2443
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3413
 */
2481
c99ff159b60d Added function attribute definition.
Florian Pose <fp@igh-essen.com>
parents: 2477
diff changeset
  3414
static ATTRIBUTES int ec_ioctl_reg_request_write(
2443
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3415
        ec_master_t *master, /**< EtherCAT master. */
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3416
        void *arg, /**< ioctl() argument. */
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3417
        ec_ioctl_context_t *ctx /**< Private data structure of file handle. */
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3418
        )
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3419
{
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3420
    ec_ioctl_reg_request_t io;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3421
    ec_slave_config_t *sc;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3422
    ec_reg_request_t *reg;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3423
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3424
    if (unlikely(!ctx->requested)) {
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3425
        return -EPERM;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3426
    }
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3427
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3428
    if (copy_from_user(&io, (void __user *) arg, sizeof(io))) {
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3429
        return -EFAULT;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3430
    }
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3431
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3432
    /* no locking of master_sem needed, because neither sc nor reg will not be
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3433
     * deleted in the meantime. */
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3434
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3435
    if (!(sc = ec_master_get_config(master, io.config_index))) {
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3436
        return -ENOENT;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3437
    }
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3438
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3439
    if (!(reg = ec_slave_config_find_reg_request(sc, io.request_index))) {
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3440
        return -ENOENT;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3441
    }
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3442
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3443
    if (io.transfer_size > reg->mem_size) {
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3444
        return -EOVERFLOW;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3445
    }
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3446
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3447
    if (copy_from_user(reg->data, (void __user *) io.data,
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3448
                io.transfer_size)) {
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3449
        return -EFAULT;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3450
    }
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3451
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3452
    ecrt_reg_request_write(reg, io.address, io.transfer_size);
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3453
    return 0;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3454
}
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3455
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3456
/*****************************************************************************/
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3457
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3458
/** Starts an register read operation.
2522
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
  3459
 *
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
  3460
 * \return Zero on success, otherwise a negative error code.
2443
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3461
 */
2481
c99ff159b60d Added function attribute definition.
Florian Pose <fp@igh-essen.com>
parents: 2477
diff changeset
  3462
static ATTRIBUTES int ec_ioctl_reg_request_read(
2443
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3463
        ec_master_t *master, /**< EtherCAT master. */
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3464
        void *arg, /**< ioctl() argument. */
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3465
        ec_ioctl_context_t *ctx /**< Private data structure of file handle. */
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3466
        )
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3467
{
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3468
    ec_ioctl_reg_request_t io;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3469
    ec_slave_config_t *sc;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3470
    ec_reg_request_t *reg;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3471
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3472
    if (unlikely(!ctx->requested)) {
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3473
        return -EPERM;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3474
    }
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3475
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3476
    if (copy_from_user(&io, (void __user *) arg, sizeof(io))) {
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3477
        return -EFAULT;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3478
    }
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3479
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3480
    /* no locking of master_sem needed, because neither sc nor reg will not be
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3481
     * deleted in the meantime. */
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3482
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3483
    if (!(sc = ec_master_get_config(master, io.config_index))) {
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3484
        return -ENOENT;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3485
    }
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3486
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3487
    if (!(reg = ec_slave_config_find_reg_request(sc, io.request_index))) {
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3488
        return -ENOENT;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3489
    }
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3490
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3491
    if (io.transfer_size > reg->mem_size) {
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3492
        return -EOVERFLOW;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3493
    }
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3494
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3495
    ecrt_reg_request_read(reg, io.address, io.transfer_size);
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3496
    return 0;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3497
}
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3498
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3499
/*****************************************************************************/
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  3500
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3501
/** Sets the VoE send header.
2522
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
  3502
 *
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
  3503
 * \return Zero on success, otherwise a negative error code.
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3504
 */
2481
c99ff159b60d Added function attribute definition.
Florian Pose <fp@igh-essen.com>
parents: 2477
diff changeset
  3505
static ATTRIBUTES int ec_ioctl_voe_send_header(
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3506
        ec_master_t *master, /**< EtherCAT master. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3507
        void *arg, /**< ioctl() argument. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3508
        ec_ioctl_context_t *ctx /**< Private data structure of file handle. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3509
        )
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3510
{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3511
    ec_ioctl_voe_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3512
    ec_slave_config_t *sc;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3513
    ec_voe_handler_t *voe;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3514
    uint32_t vendor_id;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3515
    uint16_t vendor_type;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3516
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3517
    if (unlikely(!ctx->requested))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3518
        return -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3519
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3520
    if (copy_from_user(&data, (void __user *) arg, sizeof(data)))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3521
        return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3522
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3523
    if (get_user(vendor_id, data.vendor_id))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3524
        return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3525
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3526
    if (get_user(vendor_type, data.vendor_type))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3527
        return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3528
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3529
    /* no locking of master_sem needed, because neither sc nor voe will not be
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3530
     * deleted in the meantime. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3531
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3532
    if (!(sc = ec_master_get_config(master, data.config_index))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3533
        return -ENOENT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3534
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3535
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3536
    if (!(voe = ec_slave_config_find_voe_handler(sc, data.voe_index))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3537
        return -ENOENT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3538
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3539
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3540
    ecrt_voe_handler_send_header(voe, vendor_id, vendor_type);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3541
    return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3542
}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3543
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3544
/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3545
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3546
/** Gets the received VoE header.
2522
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
  3547
 *
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
  3548
 * \return Zero on success, otherwise a negative error code.
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3549
 */
2481
c99ff159b60d Added function attribute definition.
Florian Pose <fp@igh-essen.com>
parents: 2477
diff changeset
  3550
static ATTRIBUTES int ec_ioctl_voe_rec_header(
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3551
        ec_master_t *master, /**< EtherCAT master. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3552
        void *arg, /**< ioctl() argument. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3553
        ec_ioctl_context_t *ctx /**< Private data structure of file handle. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3554
        )
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3555
{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3556
    ec_ioctl_voe_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3557
    ec_slave_config_t *sc;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3558
    ec_voe_handler_t *voe;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3559
    uint32_t vendor_id;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3560
    uint16_t vendor_type;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3561
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3562
    if (unlikely(!ctx->requested))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3563
        return -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3564
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3565
    if (copy_from_user(&data, (void __user *) arg, sizeof(data)))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3566
        return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3567
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3568
    /* no locking of master_sem needed, because neither sc nor voe will not be
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3569
     * deleted in the meantime. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3570
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3571
    if (!(sc = ec_master_get_config(master, data.config_index))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3572
        return -ENOENT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3573
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3574
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3575
    if (!(voe = ec_slave_config_find_voe_handler(sc, data.voe_index))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3576
        return -ENOENT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3577
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3578
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3579
    ecrt_voe_handler_received_header(voe, &vendor_id, &vendor_type);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3580
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3581
    if (likely(data.vendor_id))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3582
        if (put_user(vendor_id, data.vendor_id))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3583
            return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3584
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3585
    if (likely(data.vendor_type))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3586
        if (put_user(vendor_type, data.vendor_type))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3587
            return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3588
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3589
    return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3590
}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3591
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3592
/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3593
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3594
/** Starts a VoE read operation.
2522
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
  3595
 *
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
  3596
 * \return Zero on success, otherwise a negative error code.
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3597
 */
2481
c99ff159b60d Added function attribute definition.
Florian Pose <fp@igh-essen.com>
parents: 2477
diff changeset
  3598
static ATTRIBUTES int ec_ioctl_voe_read(
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3599
        ec_master_t *master, /**< EtherCAT master. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3600
        void *arg, /**< ioctl() argument. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3601
        ec_ioctl_context_t *ctx /**< Private data structure of file handle. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3602
        )
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3603
{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3604
    ec_ioctl_voe_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3605
    ec_slave_config_t *sc;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3606
    ec_voe_handler_t *voe;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3607
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3608
    if (unlikely(!ctx->requested))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3609
        return -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3610
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3611
    if (copy_from_user(&data, (void __user *) arg, sizeof(data)))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3612
        return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3613
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3614
    /* no locking of master_sem needed, because neither sc nor voe will not be
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3615
     * deleted in the meantime. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3616
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3617
    if (!(sc = ec_master_get_config(master, data.config_index))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3618
        return -ENOENT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3619
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3620
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3621
    if (!(voe = ec_slave_config_find_voe_handler(sc, data.voe_index))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3622
        return -ENOENT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3623
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3624
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3625
    ecrt_voe_handler_read(voe);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3626
    return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3627
}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3628
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3629
/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3630
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3631
/** Starts a VoE read operation without sending a sync message first.
2522
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
  3632
 *
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
  3633
 * \return Zero on success, otherwise a negative error code.
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3634
 */
2481
c99ff159b60d Added function attribute definition.
Florian Pose <fp@igh-essen.com>
parents: 2477
diff changeset
  3635
static ATTRIBUTES int ec_ioctl_voe_read_nosync(
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3636
        ec_master_t *master, /**< EtherCAT master. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3637
        void *arg, /**< ioctl() argument. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3638
        ec_ioctl_context_t *ctx /**< Private data structure of file handle. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3639
        )
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3640
{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3641
    ec_ioctl_voe_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3642
    ec_slave_config_t *sc;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3643
    ec_voe_handler_t *voe;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3644
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3645
    if (unlikely(!ctx->requested))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3646
        return -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3647
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3648
    if (copy_from_user(&data, (void __user *) arg, sizeof(data)))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3649
        return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3650
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3651
    /* no locking of master_sem needed, because neither sc nor voe will not be
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3652
     * deleted in the meantime. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3653
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3654
    if (!(sc = ec_master_get_config(master, data.config_index))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3655
        return -ENOENT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3656
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3657
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3658
    if (!(voe = ec_slave_config_find_voe_handler(sc, data.voe_index))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3659
        return -ENOENT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3660
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3661
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3662
    ecrt_voe_handler_read_nosync(voe);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3663
    return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3664
}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3665
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3666
/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3667
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3668
/** Starts a VoE write operation.
2522
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
  3669
 *
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
  3670
 * \return Zero on success, otherwise a negative error code.
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3671
 */
2481
c99ff159b60d Added function attribute definition.
Florian Pose <fp@igh-essen.com>
parents: 2477
diff changeset
  3672
static ATTRIBUTES int ec_ioctl_voe_write(
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3673
        ec_master_t *master, /**< EtherCAT master. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3674
        void *arg, /**< ioctl() argument. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3675
        ec_ioctl_context_t *ctx /**< Private data structure of file handle. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3676
        )
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3677
{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3678
    ec_ioctl_voe_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3679
    ec_slave_config_t *sc;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3680
    ec_voe_handler_t *voe;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3681
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3682
    if (unlikely(!ctx->requested))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3683
        return -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3684
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3685
    if (copy_from_user(&data, (void __user *) arg, sizeof(data)))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3686
        return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3687
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3688
    /* no locking of master_sem needed, because neither sc nor voe will not be
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3689
     * deleted in the meantime. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3690
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3691
    if (!(sc = ec_master_get_config(master, data.config_index))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3692
        return -ENOENT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3693
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3694
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3695
    if (!(voe = ec_slave_config_find_voe_handler(sc, data.voe_index))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3696
        return -ENOENT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3697
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3698
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3699
    if (data.size) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3700
        if (data.size > ec_voe_handler_mem_size(voe))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3701
            return -EOVERFLOW;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3702
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3703
        if (copy_from_user(ecrt_voe_handler_data(voe),
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3704
                    (void __user *) data.data, data.size))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3705
            return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3706
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3707
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3708
    ecrt_voe_handler_write(voe, data.size);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3709
    return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3710
}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3711
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3712
/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3713
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3714
/** Executes the VoE state machine.
2522
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
  3715
 *
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
  3716
 * \return Zero on success, otherwise a negative error code.
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3717
 */
2481
c99ff159b60d Added function attribute definition.
Florian Pose <fp@igh-essen.com>
parents: 2477
diff changeset
  3718
static ATTRIBUTES int ec_ioctl_voe_exec(
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3719
        ec_master_t *master, /**< EtherCAT master. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3720
        void *arg, /**< ioctl() argument. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3721
        ec_ioctl_context_t *ctx /**< Private data structure of file handle. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3722
        )
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3723
{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3724
    ec_ioctl_voe_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3725
    ec_slave_config_t *sc;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3726
    ec_voe_handler_t *voe;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3727
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3728
    if (unlikely(!ctx->requested))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3729
        return -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3730
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3731
    if (copy_from_user(&data, (void __user *) arg, sizeof(data)))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3732
        return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3733
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3734
    /* no locking of master_sem needed, because neither sc nor voe will not be
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3735
     * deleted in the meantime. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3736
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3737
    if (!(sc = ec_master_get_config(master, data.config_index))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3738
        return -ENOENT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3739
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3740
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3741
    if (!(voe = ec_slave_config_find_voe_handler(sc, data.voe_index))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3742
        return -ENOENT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3743
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3744
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3745
    data.state = ecrt_voe_handler_execute(voe);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3746
    if (data.state == EC_REQUEST_SUCCESS && voe->dir == EC_DIR_INPUT)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3747
        data.size = ecrt_voe_handler_data_size(voe);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3748
    else
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3749
        data.size = 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3750
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3751
    if (copy_to_user((void __user *) arg, &data, sizeof(data)))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3752
        return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3753
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3754
    return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3755
}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3756
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3757
/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3758
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3759
/** Reads the received VoE data.
2522
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
  3760
 *
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
  3761
 * \return Zero on success, otherwise a negative error code.
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3762
 */
2481
c99ff159b60d Added function attribute definition.
Florian Pose <fp@igh-essen.com>
parents: 2477
diff changeset
  3763
static ATTRIBUTES int ec_ioctl_voe_data(
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3764
        ec_master_t *master, /**< EtherCAT master. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3765
        void *arg, /**< ioctl() argument. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3766
        ec_ioctl_context_t *ctx /**< Private data structure of file handle. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3767
        )
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3768
{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3769
    ec_ioctl_voe_t data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3770
    ec_slave_config_t *sc;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3771
    ec_voe_handler_t *voe;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3772
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3773
    if (unlikely(!ctx->requested))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3774
        return -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3775
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3776
    if (copy_from_user(&data, (void __user *) arg, sizeof(data)))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3777
        return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3778
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3779
    /* no locking of master_sem needed, because neither sc nor voe will not be
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3780
     * deleted in the meantime. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3781
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3782
    if (!(sc = ec_master_get_config(master, data.config_index))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3783
        return -ENOENT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3784
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3785
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3786
    if (!(voe = ec_slave_config_find_voe_handler(sc, data.voe_index))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3787
        return -ENOENT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3788
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3789
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3790
    if (copy_to_user((void __user *) data.data, ecrt_voe_handler_data(voe),
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3791
                ecrt_voe_handler_data_size(voe)))
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3792
        return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3793
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3794
    return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3795
}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3796
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3797
/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3798
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3799
/** Read a file from a slave via FoE.
2522
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
  3800
 *
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
  3801
 * \return Zero on success, otherwise a negative error code.
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3802
 */
2481
c99ff159b60d Added function attribute definition.
Florian Pose <fp@igh-essen.com>
parents: 2477
diff changeset
  3803
static ATTRIBUTES int ec_ioctl_slave_foe_read(
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3804
        ec_master_t *master, /**< EtherCAT master. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3805
        void *arg /**< ioctl() argument. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3806
        )
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3807
{
2464
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
  3808
    ec_ioctl_slave_foe_t io;
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
  3809
    ec_foe_request_t request;
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
  3810
    ec_slave_t *slave;
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
  3811
    int ret;
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
  3812
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
  3813
    if (copy_from_user(&io, (void __user *) arg, sizeof(io))) {
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
  3814
        return -EFAULT;
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
  3815
    }
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
  3816
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
  3817
    ec_foe_request_init(&request, io.file_name);
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
  3818
    ret = ec_foe_request_alloc(&request, 10000); // FIXME
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
  3819
    if (ret) {
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
  3820
        ec_foe_request_clear(&request);
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
  3821
        return ret;
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
  3822
    }
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
  3823
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
  3824
    ec_foe_request_read(&request);
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3825
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3826
    if (down_interruptible(&master->master_sem)) {
2464
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
  3827
        ec_foe_request_clear(&request);
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3828
        return -EINTR;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3829
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3830
2464
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
  3831
    if (!(slave = ec_master_find_slave(master, 0, io.slave_position))) {
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
  3832
        up(&master->master_sem);
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
  3833
        ec_foe_request_clear(&request);
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3834
        EC_MASTER_ERR(master, "Slave %u does not exist!\n",
2464
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
  3835
                io.slave_position);
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3836
        return -EINVAL;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3837
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3838
2467
74ede087bc85 Using common waitqueue for requests.
Florian Pose <fp@igh-essen.com>
parents: 2464
diff changeset
  3839
    EC_SLAVE_DBG(slave, 1, "Scheduling FoE read request.\n");
74ede087bc85 Using common waitqueue for requests.
Florian Pose <fp@igh-essen.com>
parents: 2464
diff changeset
  3840
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3841
    // schedule request.
2464
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
  3842
    list_add_tail(&request.list, &slave->foe_requests);
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3843
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3844
    up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3845
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3846
    // wait for processing through FSM
2467
74ede087bc85 Using common waitqueue for requests.
Florian Pose <fp@igh-essen.com>
parents: 2464
diff changeset
  3847
    if (wait_event_interruptible(master->request_queue,
2464
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
  3848
                request.state != EC_INT_REQUEST_QUEUED)) {
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3849
        // interrupted by signal
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3850
        down(&master->master_sem);
2464
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
  3851
        if (request.state == EC_INT_REQUEST_QUEUED) {
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3852
            list_del(&request.list);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3853
            up(&master->master_sem);
2464
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
  3854
            ec_foe_request_clear(&request);
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3855
            return -EINTR;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3856
        }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3857
        // request already processing: interrupt not possible.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3858
        up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3859
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3860
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3861
    // wait until master FSM has finished processing
2467
74ede087bc85 Using common waitqueue for requests.
Florian Pose <fp@igh-essen.com>
parents: 2464
diff changeset
  3862
    wait_event(master->request_queue, request.state != EC_INT_REQUEST_BUSY);
2464
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
  3863
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
  3864
    io.result = request.result;
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
  3865
    io.error_code = request.error_code;
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
  3866
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
  3867
    if (request.state != EC_INT_REQUEST_SUCCESS) {
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
  3868
        io.data_size = 0;
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
  3869
        ret = -EIO;
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3870
    } else {
2464
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
  3871
        if (request.data_size > io.buffer_size) {
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3872
            EC_MASTER_ERR(master, "Buffer too small.\n");
2464
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
  3873
            ec_foe_request_clear(&request);
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3874
            return -EOVERFLOW;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3875
        }
2464
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
  3876
        io.data_size = request.data_size;
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
  3877
        if (copy_to_user((void __user *) io.buffer,
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
  3878
                    request.buffer, io.data_size)) {
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
  3879
            ec_foe_request_clear(&request);
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3880
            return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3881
        }
2464
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
  3882
        ret = 0;
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
  3883
    }
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
  3884
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
  3885
    if (__copy_to_user((void __user *) arg, &io, sizeof(io))) {
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
  3886
        ret = -EFAULT;
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
  3887
    }
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
  3888
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
  3889
    ec_foe_request_clear(&request);
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
  3890
    return ret;
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3891
}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3892
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3893
/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3894
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3895
/** Write a file to a slave via FoE
2522
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
  3896
 *
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
  3897
 * \return Zero on success, otherwise a negative error code.
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3898
 */
2481
c99ff159b60d Added function attribute definition.
Florian Pose <fp@igh-essen.com>
parents: 2477
diff changeset
  3899
static ATTRIBUTES int ec_ioctl_slave_foe_write(
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3900
        ec_master_t *master, /**< EtherCAT master. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3901
        void *arg /**< ioctl() argument. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3902
        )
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3903
{
2464
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
  3904
    ec_ioctl_slave_foe_t io;
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
  3905
    ec_foe_request_t request;
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
  3906
    ec_slave_t *slave;
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
  3907
    int ret;
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
  3908
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
  3909
    if (copy_from_user(&io, (void __user *) arg, sizeof(io))) {
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
  3910
        return -EFAULT;
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
  3911
    }
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
  3912
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
  3913
    ec_foe_request_init(&request, io.file_name);
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
  3914
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
  3915
    ret = ec_foe_request_alloc(&request, io.buffer_size);
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
  3916
    if (ret) {
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
  3917
        ec_foe_request_clear(&request);
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
  3918
        return ret;
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
  3919
    }
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
  3920
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
  3921
    if (copy_from_user(request.buffer,
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
  3922
                (void __user *) io.buffer, io.buffer_size)) {
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
  3923
        ec_foe_request_clear(&request);
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
  3924
        return -EFAULT;
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
  3925
    }
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
  3926
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
  3927
    request.data_size = io.buffer_size;
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
  3928
    ec_foe_request_write(&request);
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3929
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3930
    if (down_interruptible(&master->master_sem)) {
2464
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
  3931
        ec_foe_request_clear(&request);
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3932
        return -EINTR;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3933
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3934
2464
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
  3935
    if (!(slave = ec_master_find_slave(master, 0, io.slave_position))) {
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3936
        up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3937
        EC_MASTER_ERR(master, "Slave %u does not exist!\n",
2464
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
  3938
                io.slave_position);
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
  3939
        ec_foe_request_clear(&request);
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3940
        return -EINVAL;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3941
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3942
2464
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
  3943
    EC_SLAVE_DBG(slave, 1, "Scheduling FoE write request.\n");
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3944
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3945
    // schedule FoE write request.
2464
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
  3946
    list_add_tail(&request.list, &slave->foe_requests);
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3947
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3948
    up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3949
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3950
    // wait for processing through FSM
2467
74ede087bc85 Using common waitqueue for requests.
Florian Pose <fp@igh-essen.com>
parents: 2464
diff changeset
  3951
    if (wait_event_interruptible(master->request_queue,
2464
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
  3952
                request.state != EC_INT_REQUEST_QUEUED)) {
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3953
        // interrupted by signal
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3954
        down(&master->master_sem);
2464
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
  3955
        if (request.state == EC_INT_REQUEST_QUEUED) {
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3956
            // abort request
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3957
            list_del(&request.list);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3958
            up(&master->master_sem);
2464
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
  3959
            ec_foe_request_clear(&request);
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3960
            return -EINTR;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3961
        }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3962
        up(&master->master_sem);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3963
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3964
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3965
    // wait until master FSM has finished processing
2467
74ede087bc85 Using common waitqueue for requests.
Florian Pose <fp@igh-essen.com>
parents: 2464
diff changeset
  3966
    wait_event(master->request_queue, request.state != EC_INT_REQUEST_BUSY);
2464
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
  3967
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
  3968
    io.result = request.result;
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
  3969
    io.error_code = request.error_code;
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
  3970
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
  3971
    ret = request.state == EC_INT_REQUEST_SUCCESS ? 0 : -EIO;
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
  3972
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
  3973
    if (__copy_to_user((void __user *) arg, &io, sizeof(io))) {
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
  3974
        ret = -EFAULT;
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
  3975
    }
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
  3976
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
  3977
    ec_foe_request_clear(&request);
e6cc33cac6a2 Removed unnecessary ec_master_foe_request_t; fixed FoE access.
Florian Pose <fp@igh-essen.com>
parents: 2453
diff changeset
  3978
    return ret;
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3979
}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3980
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3981
/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3982
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3983
/** Read an SoE IDN.
2522
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
  3984
 *
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
  3985
 * \return Zero on success, otherwise a negative error code.
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3986
 */
2481
c99ff159b60d Added function attribute definition.
Florian Pose <fp@igh-essen.com>
parents: 2477
diff changeset
  3987
static ATTRIBUTES int ec_ioctl_slave_soe_read(
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3988
        ec_master_t *master, /**< EtherCAT master. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3989
        void *arg /**< ioctl() argument. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3990
        )
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3991
{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3992
    ec_ioctl_slave_soe_read_t ioctl;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3993
    u8 *data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3994
    int retval;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3995
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3996
    if (copy_from_user(&ioctl, (void __user *) arg, sizeof(ioctl))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3997
        return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3998
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3999
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4000
    data = kmalloc(ioctl.mem_size, GFP_KERNEL);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4001
    if (!data) {
2487
ccafdf1e261f Fixed some warnings on 64 bit systems.
Florian Pose <fp@igh-essen.com>
parents: 2486
diff changeset
  4002
        EC_MASTER_ERR(master, "Failed to allocate %zu bytes of IDN data.\n",
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4003
                ioctl.mem_size);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4004
        return -ENOMEM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4005
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4006
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4007
    retval = ecrt_master_read_idn(master, ioctl.slave_position,
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4008
            ioctl.drive_no, ioctl.idn, data, ioctl.mem_size, &ioctl.data_size,
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4009
            &ioctl.error_code);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4010
    if (retval) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4011
        kfree(data);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4012
        return retval;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4013
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4014
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4015
    if (copy_to_user((void __user *) ioctl.data,
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4016
                data, ioctl.data_size)) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4017
        kfree(data);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4018
        return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4019
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4020
    kfree(data);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4021
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4022
    if (__copy_to_user((void __user *) arg, &ioctl, sizeof(ioctl))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4023
        retval = -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4024
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4025
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4026
    EC_MASTER_DBG(master, 1, "Finished SoE read request.\n");
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4027
    return retval;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4028
}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4029
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4030
/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4031
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4032
/** Write an IDN to a slave via SoE.
2522
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
  4033
 *
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
  4034
 * \return Zero on success, otherwise a negative error code.
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4035
 */
2481
c99ff159b60d Added function attribute definition.
Florian Pose <fp@igh-essen.com>
parents: 2477
diff changeset
  4036
static ATTRIBUTES int ec_ioctl_slave_soe_write(
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4037
        ec_master_t *master, /**< EtherCAT master. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4038
        void *arg /**< ioctl() argument. */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4039
        )
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4040
{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4041
    ec_ioctl_slave_soe_write_t ioctl;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4042
    u8 *data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4043
    int retval;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4044
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4045
    if (copy_from_user(&ioctl, (void __user *) arg, sizeof(ioctl))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4046
        return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4047
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4048
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4049
    data = kmalloc(ioctl.data_size, GFP_KERNEL);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4050
    if (!data) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4051
        EC_MASTER_ERR(master, "Failed to allocate %zu bytes of IDN data.\n",
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4052
                ioctl.data_size);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4053
        return -ENOMEM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4054
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4055
    if (copy_from_user(data, (void __user *) ioctl.data, ioctl.data_size)) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4056
        kfree(data);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4057
        return -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4058
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4059
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4060
    retval = ecrt_master_write_idn(master, ioctl.slave_position,
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4061
            ioctl.drive_no, ioctl.idn, data, ioctl.data_size,
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4062
            &ioctl.error_code);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4063
    kfree(data);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4064
    if (retval) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4065
        return retval;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4066
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4067
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4068
    if (__copy_to_user((void __user *) arg, &ioctl, sizeof(ioctl))) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4069
        retval = -EFAULT;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4070
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4071
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4072
    EC_MASTER_DBG(master, 1, "Finished SoE write request.\n");
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4073
    return retval;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4074
}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4075
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4076
/*****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4077
2522
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
  4078
/** ioctl() function to use.
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
  4079
 */
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4080
#ifdef EC_IOCTL_RTDM
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4081
#define EC_IOCTL ec_ioctl_rtdm
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4082
#else
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4083
#define EC_IOCTL ec_ioctl
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4084
#endif
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4085
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4086
/** Called when an ioctl() command is issued.
2522
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
  4087
 *
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
  4088
 * \return ioctl() return code.
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
  4089
 */
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
  4090
long EC_IOCTL(
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
  4091
        ec_master_t *master, /**< EtherCAT master. */
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
  4092
        ec_ioctl_context_t *ctx, /**< Device context. */
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
  4093
        unsigned int cmd, /**< ioctl() command identifier. */
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
  4094
        void *arg /**< ioctl() argument. */
ec403cf308eb Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
  4095
        )
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4096
{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4097
#if DEBUG_LATENCY
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4098
    cycles_t a = get_cycles(), b;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4099
    unsigned int t;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4100
#endif
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4101
    int ret;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4102
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4103
    switch (cmd) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4104
        case EC_IOCTL_MODULE:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4105
            ret = ec_ioctl_module(arg);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4106
            break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4107
        case EC_IOCTL_MASTER:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4108
            ret = ec_ioctl_master(master, arg);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4109
            break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4110
        case EC_IOCTL_SLAVE:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4111
            ret = ec_ioctl_slave(master, arg);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4112
            break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4113
        case EC_IOCTL_SLAVE_SYNC:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4114
            ret = ec_ioctl_slave_sync(master, arg);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4115
            break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4116
        case EC_IOCTL_SLAVE_SYNC_PDO:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4117
            ret = ec_ioctl_slave_sync_pdo(master, arg);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4118
            break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4119
        case EC_IOCTL_SLAVE_SYNC_PDO_ENTRY:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4120
            ret = ec_ioctl_slave_sync_pdo_entry(master, arg);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4121
            break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4122
        case EC_IOCTL_DOMAIN:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4123
            ret = ec_ioctl_domain(master, arg);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4124
            break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4125
        case EC_IOCTL_DOMAIN_FMMU:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4126
            ret = ec_ioctl_domain_fmmu(master, arg);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4127
            break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4128
        case EC_IOCTL_DOMAIN_DATA:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4129
            ret = ec_ioctl_domain_data(master, arg);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4130
            break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4131
        case EC_IOCTL_MASTER_DEBUG:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4132
            if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4133
                ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4134
                break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4135
            }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4136
            ret = ec_ioctl_master_debug(master, arg);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4137
            break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4138
        case EC_IOCTL_MASTER_RESCAN:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4139
            if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4140
                ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4141
                break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4142
            }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4143
            ret = ec_ioctl_master_rescan(master, arg);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4144
            break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4145
        case EC_IOCTL_SLAVE_STATE:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4146
            if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4147
                ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4148
                break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4149
            }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4150
            ret = ec_ioctl_slave_state(master, arg);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4151
            break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4152
        case EC_IOCTL_SLAVE_SDO:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4153
            ret = ec_ioctl_slave_sdo(master, arg);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4154
            break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4155
        case EC_IOCTL_SLAVE_SDO_ENTRY:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4156
            ret = ec_ioctl_slave_sdo_entry(master, arg);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4157
            break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4158
        case EC_IOCTL_SLAVE_SDO_UPLOAD:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4159
            ret = ec_ioctl_slave_sdo_upload(master, arg);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4160
            break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4161
        case EC_IOCTL_SLAVE_SDO_DOWNLOAD:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4162
            if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4163
                ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4164
                break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4165
            }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4166
            ret = ec_ioctl_slave_sdo_download(master, arg);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4167
            break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4168
        case EC_IOCTL_SLAVE_SII_READ:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4169
            ret = ec_ioctl_slave_sii_read(master, arg);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4170
            break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4171
        case EC_IOCTL_SLAVE_SII_WRITE:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4172
            if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4173
                ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4174
                break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4175
            }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4176
            ret = ec_ioctl_slave_sii_write(master, arg);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4177
            break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4178
        case EC_IOCTL_SLAVE_REG_READ:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4179
            ret = ec_ioctl_slave_reg_read(master, arg);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4180
            break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4181
        case EC_IOCTL_SLAVE_REG_WRITE:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4182
            if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4183
                ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4184
                break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4185
            }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4186
            ret = ec_ioctl_slave_reg_write(master, arg);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4187
            break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4188
        case EC_IOCTL_SLAVE_FOE_READ:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4189
            ret = ec_ioctl_slave_foe_read(master, arg);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4190
            break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4191
        case EC_IOCTL_SLAVE_FOE_WRITE:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4192
            if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4193
                ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4194
                break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4195
            }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4196
            ret = ec_ioctl_slave_foe_write(master, arg);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4197
            break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4198
        case EC_IOCTL_SLAVE_SOE_READ:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4199
            ret = ec_ioctl_slave_soe_read(master, arg);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4200
            break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4201
        case EC_IOCTL_SLAVE_SOE_WRITE:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4202
            if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4203
                ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4204
                break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4205
            }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4206
            ret = ec_ioctl_slave_soe_write(master, arg);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4207
            break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4208
        case EC_IOCTL_CONFIG:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4209
            ret = ec_ioctl_config(master, arg);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4210
            break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4211
        case EC_IOCTL_CONFIG_PDO:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4212
            ret = ec_ioctl_config_pdo(master, arg);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4213
            break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4214
        case EC_IOCTL_CONFIG_PDO_ENTRY:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4215
            ret = ec_ioctl_config_pdo_entry(master, arg);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4216
            break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4217
        case EC_IOCTL_CONFIG_SDO:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4218
            ret = ec_ioctl_config_sdo(master, arg);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4219
            break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4220
        case EC_IOCTL_CONFIG_IDN:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4221
            ret = ec_ioctl_config_idn(master, arg);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4222
            break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4223
#ifdef EC_EOE
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4224
        case EC_IOCTL_EOE_HANDLER:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4225
            ret = ec_ioctl_eoe_handler(master, arg);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4226
            break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4227
#endif
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4228
        case EC_IOCTL_REQUEST:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4229
            if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4230
                ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4231
                break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4232
            }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4233
            ret = ec_ioctl_request(master, arg, ctx);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4234
            break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4235
        case EC_IOCTL_CREATE_DOMAIN:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4236
            if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4237
                ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4238
                break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4239
            }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4240
            ret = ec_ioctl_create_domain(master, arg, ctx);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4241
            break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4242
        case EC_IOCTL_CREATE_SLAVE_CONFIG:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4243
            if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4244
                ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4245
                break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4246
            }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4247
            ret = ec_ioctl_create_slave_config(master, arg, ctx);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4248
            break;
2447
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2443
diff changeset
  4249
        case EC_IOCTL_SELECT_REF_CLOCK:
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2443
diff changeset
  4250
            if (!ctx->writable) {
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2443
diff changeset
  4251
                ret = -EPERM;
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2443
diff changeset
  4252
                break;
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2443
diff changeset
  4253
            }
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2443
diff changeset
  4254
            ret = ec_ioctl_select_ref_clock(master, arg, ctx);
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2443
diff changeset
  4255
            break;
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4256
        case EC_IOCTL_ACTIVATE:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4257
            if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4258
                ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4259
                break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4260
            }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4261
            ret = ec_ioctl_activate(master, arg, ctx);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4262
            break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4263
        case EC_IOCTL_DEACTIVATE:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4264
            if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4265
                ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4266
                break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4267
            }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4268
            ret = ec_ioctl_deactivate(master, arg, ctx);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4269
            break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4270
        case EC_IOCTL_SEND:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4271
            if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4272
                ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4273
                break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4274
            }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4275
            ret = ec_ioctl_send(master, arg, ctx);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4276
            break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4277
        case EC_IOCTL_RECEIVE:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4278
            if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4279
                ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4280
                break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4281
            }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4282
            ret = ec_ioctl_receive(master, arg, ctx);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4283
            break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4284
        case EC_IOCTL_MASTER_STATE:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4285
            ret = ec_ioctl_master_state(master, arg, ctx);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4286
            break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4287
        case EC_IOCTL_MASTER_LINK_STATE:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4288
            ret = ec_ioctl_master_link_state(master, arg, ctx);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4289
            break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4290
        case EC_IOCTL_APP_TIME:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4291
            if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4292
                ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4293
                break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4294
            }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4295
            ret = ec_ioctl_app_time(master, arg, ctx);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4296
            break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4297
        case EC_IOCTL_SYNC_REF:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4298
            if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4299
                ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4300
                break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4301
            }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4302
            ret = ec_ioctl_sync_ref(master, arg, ctx);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4303
            break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4304
        case EC_IOCTL_SYNC_SLAVES:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4305
            if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4306
                ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4307
                break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4308
            }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4309
            ret = ec_ioctl_sync_slaves(master, arg, ctx);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4310
            break;
2447
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2443
diff changeset
  4311
        case EC_IOCTL_REF_CLOCK_TIME:
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2443
diff changeset
  4312
            if (!ctx->writable) {
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2443
diff changeset
  4313
                ret = -EPERM;
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2443
diff changeset
  4314
                break;
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2443
diff changeset
  4315
            }
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2443
diff changeset
  4316
            ret = ec_ioctl_ref_clock_time(master, arg, ctx);
e93efb4af231 Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents: 2443
diff changeset
  4317
            break;
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4318
        case EC_IOCTL_SYNC_MON_QUEUE:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4319
            if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4320
                ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4321
                break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4322
            }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4323
            ret = ec_ioctl_sync_mon_queue(master, arg, ctx);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4324
            break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4325
        case EC_IOCTL_SYNC_MON_PROCESS:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4326
            if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4327
                ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4328
                break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4329
            }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4330
            ret = ec_ioctl_sync_mon_process(master, arg, ctx);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4331
            break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4332
        case EC_IOCTL_RESET:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4333
            if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4334
                ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4335
                break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4336
            }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4337
            ret = ec_ioctl_reset(master, arg, ctx);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4338
            break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4339
        case EC_IOCTL_SC_SYNC:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4340
            if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4341
                ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4342
                break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4343
            }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4344
            ret = ec_ioctl_sc_sync(master, arg, ctx);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4345
            break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4346
        case EC_IOCTL_SC_WATCHDOG:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4347
            if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4348
                ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4349
                break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4350
            }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4351
            ret = ec_ioctl_sc_watchdog(master, arg, ctx);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4352
            break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4353
        case EC_IOCTL_SC_ADD_PDO:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4354
            if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4355
                ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4356
                break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4357
            }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4358
            ret = ec_ioctl_sc_add_pdo(master, arg, ctx);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4359
            break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4360
        case EC_IOCTL_SC_CLEAR_PDOS:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4361
            if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4362
                ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4363
                break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4364
            }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4365
            ret = ec_ioctl_sc_clear_pdos(master, arg, ctx);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4366
            break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4367
        case EC_IOCTL_SC_ADD_ENTRY:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4368
            if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4369
                ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4370
                break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4371
            }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4372
            ret = ec_ioctl_sc_add_entry(master, arg, ctx);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4373
            break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4374
        case EC_IOCTL_SC_CLEAR_ENTRIES:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4375
            if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4376
                ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4377
                break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4378
            }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4379
            ret = ec_ioctl_sc_clear_entries(master, arg, ctx);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4380
            break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4381
        case EC_IOCTL_SC_REG_PDO_ENTRY:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4382
            if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4383
                ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4384
                break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4385
            }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4386
            ret = ec_ioctl_sc_reg_pdo_entry(master, arg, ctx);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4387
            break;
2505
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries.
Florian Pose <fp@igh-essen.com>
parents: 2504
diff changeset
  4388
        case EC_IOCTL_SC_REG_PDO_POS:
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries.
Florian Pose <fp@igh-essen.com>
parents: 2504
diff changeset
  4389
            if (!ctx->writable) {
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries.
Florian Pose <fp@igh-essen.com>
parents: 2504
diff changeset
  4390
                ret = -EPERM;
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries.
Florian Pose <fp@igh-essen.com>
parents: 2504
diff changeset
  4391
                break;
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries.
Florian Pose <fp@igh-essen.com>
parents: 2504
diff changeset
  4392
            }
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries.
Florian Pose <fp@igh-essen.com>
parents: 2504
diff changeset
  4393
            ret = ec_ioctl_sc_reg_pdo_pos(master, arg, ctx);
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries.
Florian Pose <fp@igh-essen.com>
parents: 2504
diff changeset
  4394
            break;
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4395
        case EC_IOCTL_SC_DC:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4396
            if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4397
                ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4398
                break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4399
            }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4400
            ret = ec_ioctl_sc_dc(master, arg, ctx);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4401
            break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4402
        case EC_IOCTL_SC_SDO:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4403
            if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4404
                ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4405
                break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4406
            }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4407
            ret = ec_ioctl_sc_sdo(master, arg, ctx);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4408
            break;
2438
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  4409
        case EC_IOCTL_SC_EMERG_SIZE:
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  4410
            if (!ctx->writable) {
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  4411
                ret = -EPERM;
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  4412
                break;
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  4413
            }
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  4414
            ret = ec_ioctl_sc_emerg_size(master, arg, ctx);
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  4415
            break;
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  4416
        case EC_IOCTL_SC_EMERG_POP:
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  4417
            if (!ctx->writable) {
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  4418
                ret = -EPERM;
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  4419
                break;
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  4420
            }
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  4421
            ret = ec_ioctl_sc_emerg_pop(master, arg, ctx);
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  4422
            break;
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  4423
        case EC_IOCTL_SC_EMERG_CLEAR:
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  4424
            if (!ctx->writable) {
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  4425
                ret = -EPERM;
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  4426
                break;
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  4427
            }
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  4428
            ret = ec_ioctl_sc_emerg_clear(master, arg, ctx);
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  4429
            break;
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  4430
        case EC_IOCTL_SC_EMERG_OVERRUNS:
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  4431
            ret = ec_ioctl_sc_emerg_overruns(master, arg, ctx);
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2435
diff changeset
  4432
            break;
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4433
        case EC_IOCTL_SC_SDO_REQUEST:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4434
            if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4435
                ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4436
                break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4437
            }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4438
            ret = ec_ioctl_sc_create_sdo_request(master, arg, ctx);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4439
            break;
2443
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  4440
        case EC_IOCTL_SC_REG_REQUEST:
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  4441
            if (!ctx->writable) {
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  4442
                ret = -EPERM;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  4443
                break;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  4444
            }
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  4445
            ret = ec_ioctl_sc_create_reg_request(master, arg, ctx);
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  4446
            break;
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4447
        case EC_IOCTL_SC_VOE:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4448
            if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4449
                ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4450
                break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4451
            }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4452
            ret = ec_ioctl_sc_create_voe_handler(master, arg, ctx);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4453
            break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4454
        case EC_IOCTL_SC_STATE:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4455
            ret = ec_ioctl_sc_state(master, arg, ctx);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4456
            break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4457
        case EC_IOCTL_SC_IDN:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4458
            if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4459
                ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4460
                break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4461
            }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4462
            ret = ec_ioctl_sc_idn(master, arg, ctx);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4463
            break;
2504
5ef9d5b14879 Exported ecrt_domain_size() for userspace.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
  4464
        case EC_IOCTL_DOMAIN_SIZE:
5ef9d5b14879 Exported ecrt_domain_size() for userspace.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
  4465
            ret = ec_ioctl_domain_size(master, arg, ctx);
5ef9d5b14879 Exported ecrt_domain_size() for userspace.
Florian Pose <fp@igh-essen.com>
parents: 2498
diff changeset
  4466
            break;
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4467
        case EC_IOCTL_DOMAIN_OFFSET:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4468
            ret = ec_ioctl_domain_offset(master, arg, ctx);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4469
            break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4470
        case EC_IOCTL_DOMAIN_PROCESS:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4471
            if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4472
                ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4473
                break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4474
            }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4475
            ret = ec_ioctl_domain_process(master, arg, ctx);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4476
            break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4477
        case EC_IOCTL_DOMAIN_QUEUE:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4478
            if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4479
                ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4480
                break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4481
            }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4482
            ret = ec_ioctl_domain_queue(master, arg, ctx);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4483
            break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4484
        case EC_IOCTL_DOMAIN_STATE:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4485
            ret = ec_ioctl_domain_state(master, arg, ctx);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4486
            break;
2434
fa52128477f6 Added ecrt_sdo_request_index() method to change index and subindex.
Florian Pose <fp@igh-essen.com>
parents: 2433
diff changeset
  4487
        case EC_IOCTL_SDO_REQUEST_INDEX:
fa52128477f6 Added ecrt_sdo_request_index() method to change index and subindex.
Florian Pose <fp@igh-essen.com>
parents: 2433
diff changeset
  4488
            if (!ctx->writable) {
fa52128477f6 Added ecrt_sdo_request_index() method to change index and subindex.
Florian Pose <fp@igh-essen.com>
parents: 2433
diff changeset
  4489
                ret = -EPERM;
fa52128477f6 Added ecrt_sdo_request_index() method to change index and subindex.
Florian Pose <fp@igh-essen.com>
parents: 2433
diff changeset
  4490
                break;
fa52128477f6 Added ecrt_sdo_request_index() method to change index and subindex.
Florian Pose <fp@igh-essen.com>
parents: 2433
diff changeset
  4491
            }
fa52128477f6 Added ecrt_sdo_request_index() method to change index and subindex.
Florian Pose <fp@igh-essen.com>
parents: 2433
diff changeset
  4492
            ret = ec_ioctl_sdo_request_index(master, arg, ctx);
fa52128477f6 Added ecrt_sdo_request_index() method to change index and subindex.
Florian Pose <fp@igh-essen.com>
parents: 2433
diff changeset
  4493
            break;
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4494
        case EC_IOCTL_SDO_REQUEST_TIMEOUT:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4495
            if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4496
                ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4497
                break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4498
            }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4499
            ret = ec_ioctl_sdo_request_timeout(master, arg, ctx);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4500
            break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4501
        case EC_IOCTL_SDO_REQUEST_STATE:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4502
            ret = ec_ioctl_sdo_request_state(master, arg, ctx);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4503
            break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4504
        case EC_IOCTL_SDO_REQUEST_READ:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4505
            if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4506
                ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4507
                break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4508
            }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4509
            ret = ec_ioctl_sdo_request_read(master, arg, ctx);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4510
            break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4511
        case EC_IOCTL_SDO_REQUEST_WRITE:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4512
            if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4513
                ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4514
                break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4515
            }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4516
            ret = ec_ioctl_sdo_request_write(master, arg, ctx);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4517
            break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4518
        case EC_IOCTL_SDO_REQUEST_DATA:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4519
            ret = ec_ioctl_sdo_request_data(master, arg, ctx);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4520
            break;
2443
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  4521
        case EC_IOCTL_REG_REQUEST_DATA:
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  4522
            ret = ec_ioctl_reg_request_data(master, arg, ctx);
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  4523
            break;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  4524
        case EC_IOCTL_REG_REQUEST_STATE:
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  4525
            ret = ec_ioctl_reg_request_state(master, arg, ctx);
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  4526
            break;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  4527
        case EC_IOCTL_REG_REQUEST_WRITE:
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  4528
            if (!ctx->writable) {
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  4529
                ret = -EPERM;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  4530
                break;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  4531
            }
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  4532
            ret = ec_ioctl_reg_request_write(master, arg, ctx);
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  4533
            break;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  4534
        case EC_IOCTL_REG_REQUEST_READ:
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  4535
            if (!ctx->writable) {
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  4536
                ret = -EPERM;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  4537
                break;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  4538
            }
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  4539
            ret = ec_ioctl_reg_request_read(master, arg, ctx);
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
  4540
            break;
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4541
        case EC_IOCTL_VOE_SEND_HEADER:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4542
            if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4543
                ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4544
                break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4545
            }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4546
            ret = ec_ioctl_voe_send_header(master, arg, ctx);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4547
            break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4548
        case EC_IOCTL_VOE_REC_HEADER:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4549
            ret = ec_ioctl_voe_rec_header(master, arg, ctx);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4550
            break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4551
        case EC_IOCTL_VOE_READ:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4552
            if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4553
                ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4554
                break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4555
            }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4556
            ret = ec_ioctl_voe_read(master, arg, ctx);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4557
            break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4558
        case EC_IOCTL_VOE_READ_NOSYNC:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4559
            if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4560
                ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4561
                break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4562
            }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4563
            ret = ec_ioctl_voe_read_nosync(master, arg, ctx);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4564
            break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4565
        case EC_IOCTL_VOE_WRITE:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4566
            if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4567
                ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4568
                break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4569
            }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4570
            ret = ec_ioctl_voe_write(master, arg, ctx);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4571
            break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4572
        case EC_IOCTL_VOE_EXEC:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4573
            if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4574
                ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4575
                break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4576
            }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4577
            ret = ec_ioctl_voe_exec(master, arg, ctx);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4578
            break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4579
        case EC_IOCTL_VOE_DATA:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4580
            ret = ec_ioctl_voe_data(master, arg, ctx);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4581
            break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4582
        case EC_IOCTL_SET_SEND_INTERVAL:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4583
            if (!ctx->writable) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4584
                ret = -EPERM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4585
                break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4586
            }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4587
            ret = ec_ioctl_set_send_interval(master, arg, ctx);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4588
            break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4589
        default:
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4590
            ret = -ENOTTY;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4591
            break;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4592
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4593
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4594
#if DEBUG_LATENCY
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4595
    b = get_cycles();
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4596
    t = (unsigned int) ((b - a) * 1000LL) / cpu_khz;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4597
    if (t > 50) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4598
        EC_MASTER_WARN(master, "ioctl(0x%02x) took %u us.\n",
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4599
                _IOC_NR(cmd), t);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4600
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4601
#endif
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4602
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4603
    return ret;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4604
}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4605
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  4606
/*****************************************************************************/