master/rtdm.c
author Patrick Bruenn <p.bruenn@beckhoff.com>
Wed, 23 Apr 2014 17:06:15 +0200
branchstable-1.5
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parent 2524 6d9865c37b6f
child 2700 93ef210e9b56
permissions -rw-r--r--
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) 2009-2010  Moehwald GmbH B. Benner
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 *                     2011  IgH Andreas Stewering-Bone
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 *                     2012  Florian Pose <fp@igh-essen.com>
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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 as published
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 *  by the Free Software Foundation; version 2 of the License.
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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, see <http://www.gnu.org/licenses/>.
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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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/** \file
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 * RTDM interface.
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 */
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#include <linux/module.h>
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#include <linux/slab.h>
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#include <linux/mman.h>
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#include <rtdm/rtdm_driver.h>
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#include "master.h"
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#include "ioctl.h"
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#include "rtdm.h"
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/** Set to 1 to enable device operations debugging.
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 */
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#define DEBUG 0
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/****************************************************************************/
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/** Context structure for an open RTDM file handle.
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 */
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typedef struct {
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    rtdm_user_info_t *user_info; /**< RTDM user data. */
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    ec_ioctl_context_t ioctl_ctx; /**< Context structure. */
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} ec_rtdm_context_t;
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/****************************************************************************/
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int ec_rtdm_open(struct rtdm_dev_context *, rtdm_user_info_t *, int);
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int ec_rtdm_close(struct rtdm_dev_context *, rtdm_user_info_t *);
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int ec_rtdm_ioctl(struct rtdm_dev_context *, rtdm_user_info_t *,
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        unsigned int, void __user *);
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/****************************************************************************/
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/** Initialize an RTDM device.
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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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int ec_rtdm_dev_init(
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        ec_rtdm_dev_t *rtdm_dev, /**< EtherCAT RTDM device. */
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        ec_master_t *master /**< EtherCAT master. */
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        )
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{
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    int ret;
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    rtdm_dev->master = master;
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    rtdm_dev->dev = kzalloc(sizeof(struct rtdm_device), GFP_KERNEL);
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    if (!rtdm_dev->dev) {
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        EC_MASTER_ERR(master, "Failed to reserve memory for RTDM device.\n");
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        return -ENOMEM;
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    }
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    rtdm_dev->dev->struct_version = RTDM_DEVICE_STRUCT_VER;
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    rtdm_dev->dev->device_flags = RTDM_NAMED_DEVICE;
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    rtdm_dev->dev->context_size = sizeof(ec_rtdm_context_t);
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    snprintf(rtdm_dev->dev->device_name, RTDM_MAX_DEVNAME_LEN,
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            "EtherCAT%u", master->index);
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    rtdm_dev->dev->open_nrt = ec_rtdm_open;
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    rtdm_dev->dev->ops.close_nrt = ec_rtdm_close;
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    rtdm_dev->dev->ops.ioctl_rt = ec_rtdm_ioctl;
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    rtdm_dev->dev->ops.ioctl_nrt = ec_rtdm_ioctl;
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    rtdm_dev->dev->device_class = RTDM_CLASS_EXPERIMENTAL;
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    rtdm_dev->dev->device_sub_class = 222;
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    rtdm_dev->dev->driver_name = "EtherCAT";
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    rtdm_dev->dev->driver_version = RTDM_DRIVER_VER(1, 0, 2);
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    rtdm_dev->dev->peripheral_name = rtdm_dev->dev->device_name;
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    rtdm_dev->dev->provider_name = "EtherLab Community";
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    rtdm_dev->dev->proc_name = rtdm_dev->dev->device_name;
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    rtdm_dev->dev->device_data = rtdm_dev; /* pointer to parent */
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    EC_MASTER_INFO(master, "Registering RTDM device %s.\n",
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            rtdm_dev->dev->driver_name);
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    ret = rtdm_dev_register(rtdm_dev->dev);
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    if (ret) {
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        EC_MASTER_ERR(master, "Initialization of RTDM interface failed"
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                " (return value %i).\n", ret);
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        kfree(rtdm_dev->dev);
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    }
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    return ret;
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}
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/****************************************************************************/
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/** Clear an RTDM device.
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 */
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void ec_rtdm_dev_clear(
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        ec_rtdm_dev_t *rtdm_dev /**< EtherCAT RTDM device. */
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        )
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{
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    int ret;
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    EC_MASTER_INFO(rtdm_dev->master, "Unregistering RTDM device %s.\n",
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            rtdm_dev->dev->driver_name);
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    ret = rtdm_dev_unregister(rtdm_dev->dev, 1000 /* poll delay [ms] */);
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    if (ret < 0) {
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        EC_MASTER_WARN(rtdm_dev->master,
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                "Failed to unregister RTDM device (code %i).\n", ret);
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    }
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    kfree(rtdm_dev->dev);
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}
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/****************************************************************************/
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/** Driver open.
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 *
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 * \return Always zero (success).
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 */
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int ec_rtdm_open(
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        struct rtdm_dev_context *context, /**< Context. */
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        rtdm_user_info_t *user_info, /**< User data. */
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        int oflags /**< Open flags. */
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        )
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{
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    ec_rtdm_context_t *ctx = (ec_rtdm_context_t *) context->dev_private;
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#if DEBUG
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    ec_rtdm_dev_t *rtdm_dev = (ec_rtdm_dev_t *) context->device->device_data;
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#endif
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    ctx->user_info = user_info;
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    ctx->ioctl_ctx.writable = oflags & O_WRONLY || oflags & O_RDWR;
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    ctx->ioctl_ctx.requested = 0;
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    ctx->ioctl_ctx.process_data = NULL;
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    ctx->ioctl_ctx.process_data_size = 0;
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#if DEBUG
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    EC_MASTER_INFO(rtdm_dev->master, "RTDM device %s opened.\n",
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            context->device->device_name);
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#endif
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    return 0;
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}
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/****************************************************************************/
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/** Driver close.
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 *
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 * \return Always zero (success).
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 */
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int ec_rtdm_close(
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        struct rtdm_dev_context *context, /**< Context. */
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        rtdm_user_info_t *user_info /**< User data. */
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        )
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{
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    ec_rtdm_context_t *ctx = (ec_rtdm_context_t *) context->dev_private;
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    ec_rtdm_dev_t *rtdm_dev = (ec_rtdm_dev_t *) context->device->device_data;
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    if (ctx->ioctl_ctx.requested) {
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        ecrt_release_master(rtdm_dev->master);
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	}
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#if DEBUG
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    EC_MASTER_INFO(rtdm_dev->master, "RTDM device %s closed.\n",
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            context->device->device_name);
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#endif
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    return 0;
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}
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/****************************************************************************/
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/** Driver ioctl.
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 *
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 * \return ioctl() return code.
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 */
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int ec_rtdm_ioctl(
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        struct rtdm_dev_context *context, /**< Context. */
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        rtdm_user_info_t *user_info, /**< User data. */
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        unsigned int request, /**< Request. */
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        void __user *arg /**< Argument. */
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        )
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{
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    ec_rtdm_context_t *ctx = (ec_rtdm_context_t *) context->dev_private;
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    ec_rtdm_dev_t *rtdm_dev = (ec_rtdm_dev_t *) context->device->device_data;
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#if DEBUG
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    EC_MASTER_INFO(rtdm_dev->master, "ioctl(request = %u, ctl = %02x)"
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            " on RTDM device %s.\n", request, _IOC_NR(request),
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            context->device->device_name);
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#endif
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    return ec_ioctl_rtdm(rtdm_dev->master, &ctx->ioctl_ctx, request, arg);
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}
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/****************************************************************************/
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/** Memory-map process data to user space.
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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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int ec_rtdm_mmap(
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        ec_ioctl_context_t *ioctl_ctx, /**< Context. */
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        void **user_address /**< Userspace address. */
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        )
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{
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    ec_rtdm_context_t *ctx =
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        container_of(ioctl_ctx, ec_rtdm_context_t, ioctl_ctx);
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    int ret;
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    ret = rtdm_mmap_to_user(ctx->user_info,
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            ioctl_ctx->process_data, ioctl_ctx->process_data_size,
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            PROT_READ | PROT_WRITE,
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            user_address,
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            NULL, NULL);
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    if (ret < 0) {
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        return ret;
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    }
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    return 0;
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}
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/****************************************************************************/