master/cdev.c
author Florian Pose <fp@igh-essen.com>
Thu, 31 Jul 2008 16:13:29 +0000
changeset 1174 235f34ca50e2
parent 1162 51a8b41d3dbc
child 1183 d77f634ab0b5
permissions -rw-r--r--
Major Pdo configuration change: Read mapping of unknown Pdos during
configuration.
922
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
     1
/******************************************************************************
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
     2
 *
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
     3
 *  $Id$
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
     4
 *
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
     5
 *  Copyright (C) 2006  Florian Pose, Ingenieurgemeinschaft IgH
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
     6
 *
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
     7
 *  This file is part of the IgH EtherCAT Master.
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
     8
 *
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
     9
 *  The IgH EtherCAT Master is free software; you can redistribute it
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    10
 *  and/or modify it under the terms of the GNU General Public License
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    11
 *  as published by the Free Software Foundation; either version 2 of the
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    12
 *  License, or (at your option) any later version.
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    13
 *
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    14
 *  The IgH EtherCAT Master is distributed in the hope that it will be
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    15
 *  useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    16
 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    17
 *  GNU General Public License for more details.
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    18
 *
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    19
 *  You should have received a copy of the GNU General Public License
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    20
 *  along with the IgH EtherCAT Master; if not, write to the Free Software
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    21
 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    22
 *
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    23
 *  The right to use EtherCAT Technology is granted and comes free of
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    24
 *  charge under condition of compatibility of product made by
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    25
 *  Licensee. People intending to distribute/sell products based on the
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    26
 *  code, have to sign an agreement to guarantee that products using
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    27
 *  software based on IgH EtherCAT master stay compatible with the actual
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    28
 *  EtherCAT specification (which are released themselves as an open
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    29
 *  standard) as the (only) precondition to have the right to use EtherCAT
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    30
 *  Technology, IP and trade marks.
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    31
 *
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    32
 *****************************************************************************/
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    33
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    34
/**
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    35
   \file
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    36
   EtherCAT master character device.
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    37
*/
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    38
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    39
/*****************************************************************************/
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    40
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    41
#include <linux/module.h>
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    42
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    43
#include "cdev.h"
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    44
#include "master.h"
950
8b00e63fff90 'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents: 949
diff changeset
    45
#include "slave_config.h"
922
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    46
#include "ioctl.h"
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    47
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    48
/*****************************************************************************/
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    49
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    50
/** \cond */
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    51
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    52
int eccdev_open(struct inode *, struct file *);
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    53
int eccdev_release(struct inode *, struct file *);
935
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
    54
long eccdev_ioctl(struct file *, unsigned int, unsigned long);
922
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    55
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    56
/*****************************************************************************/
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    57
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    58
static struct file_operations eccdev_fops = {
935
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
    59
    .owner          = THIS_MODULE,
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
    60
    .open           = eccdev_open,
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
    61
    .release        = eccdev_release,
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
    62
    .unlocked_ioctl = eccdev_ioctl
922
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    63
};
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    64
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    65
/** \endcond */
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    66
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    67
/*****************************************************************************/
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    68
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    69
/** Constructor.
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    70
 * 
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    71
 * \return 0 in case of success, else < 0
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    72
 */
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    73
int ec_cdev_init(
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    74
		ec_cdev_t *cdev, /**< EtherCAT master character device. */
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    75
		ec_master_t *master, /**< Parent master. */
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    76
		dev_t dev_num /**< Device number. */
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    77
		)
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    78
{
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    79
    cdev->master = master;
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    80
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    81
    cdev_init(&cdev->cdev, &eccdev_fops);
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    82
    cdev->cdev.owner = THIS_MODULE;
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    83
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    84
    if (cdev_add(&cdev->cdev,
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    85
		 MKDEV(MAJOR(dev_num), master->index), 1)) {
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    86
		EC_ERR("Failed to add character device!\n");
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    87
		return -1;
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    88
    }
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    89
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    90
    return 0;
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    91
}
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    92
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    93
/*****************************************************************************/
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    94
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    95
/** Destructor.
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    96
 */
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    97
void ec_cdev_clear(ec_cdev_t *cdev /**< EtherCAT XML device */)
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    98
{
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    99
    cdev_del(&cdev->cdev);
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   100
}
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   101
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   102
/*****************************************************************************/
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   103
1108
7beba3e7e6b4 Added ec_cdev_strcpy() function.
Florian Pose <fp@igh-essen.com>
parents: 1092
diff changeset
   104
/** Copies a string to an ioctl structure.
7beba3e7e6b4 Added ec_cdev_strcpy() function.
Florian Pose <fp@igh-essen.com>
parents: 1092
diff changeset
   105
 */
7beba3e7e6b4 Added ec_cdev_strcpy() function.
Florian Pose <fp@igh-essen.com>
parents: 1092
diff changeset
   106
void ec_cdev_strcpy(
7beba3e7e6b4 Added ec_cdev_strcpy() function.
Florian Pose <fp@igh-essen.com>
parents: 1092
diff changeset
   107
        char *target, /**< Target. */
7beba3e7e6b4 Added ec_cdev_strcpy() function.
Florian Pose <fp@igh-essen.com>
parents: 1092
diff changeset
   108
        const char *source /**< Source. */
7beba3e7e6b4 Added ec_cdev_strcpy() function.
Florian Pose <fp@igh-essen.com>
parents: 1092
diff changeset
   109
        )
7beba3e7e6b4 Added ec_cdev_strcpy() function.
Florian Pose <fp@igh-essen.com>
parents: 1092
diff changeset
   110
{
7beba3e7e6b4 Added ec_cdev_strcpy() function.
Florian Pose <fp@igh-essen.com>
parents: 1092
diff changeset
   111
    if (source) {
7beba3e7e6b4 Added ec_cdev_strcpy() function.
Florian Pose <fp@igh-essen.com>
parents: 1092
diff changeset
   112
        strncpy(target, source, EC_IOCTL_STRING_SIZE);
7beba3e7e6b4 Added ec_cdev_strcpy() function.
Florian Pose <fp@igh-essen.com>
parents: 1092
diff changeset
   113
        target[EC_IOCTL_STRING_SIZE - 1] = 0;
7beba3e7e6b4 Added ec_cdev_strcpy() function.
Florian Pose <fp@igh-essen.com>
parents: 1092
diff changeset
   114
    } else {
7beba3e7e6b4 Added ec_cdev_strcpy() function.
Florian Pose <fp@igh-essen.com>
parents: 1092
diff changeset
   115
        target[0] = 0;
7beba3e7e6b4 Added ec_cdev_strcpy() function.
Florian Pose <fp@igh-essen.com>
parents: 1092
diff changeset
   116
    }
7beba3e7e6b4 Added ec_cdev_strcpy() function.
Florian Pose <fp@igh-essen.com>
parents: 1092
diff changeset
   117
}
7beba3e7e6b4 Added ec_cdev_strcpy() function.
Florian Pose <fp@igh-essen.com>
parents: 1092
diff changeset
   118
7beba3e7e6b4 Added ec_cdev_strcpy() function.
Florian Pose <fp@igh-essen.com>
parents: 1092
diff changeset
   119
/*****************************************************************************/
7beba3e7e6b4 Added ec_cdev_strcpy() function.
Florian Pose <fp@igh-essen.com>
parents: 1092
diff changeset
   120
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   121
/** Get master information.
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   122
 */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   123
int ec_cdev_ioctl_master(
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   124
        ec_master_t *master, /**< EtherCAT master. */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   125
        unsigned long arg /**< Userspace address to store the results. */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   126
        )
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   127
{
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   128
    ec_ioctl_master_t data;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   129
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   130
    down(&master->master_sem);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   131
    data.slave_count = master->slave_count;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   132
    data.config_count = ec_master_config_count(master);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   133
    data.domain_count = ec_master_domain_count(master);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   134
    data.phase = (uint8_t) master->phase;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   135
    up(&master->master_sem);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   136
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   137
    down(&master->device_sem);
1162
51a8b41d3dbc Display real ethernet address.
Florian Pose <fp@igh-essen.com>
parents: 1150
diff changeset
   138
    if (master->main_device.dev) {
51a8b41d3dbc Display real ethernet address.
Florian Pose <fp@igh-essen.com>
parents: 1150
diff changeset
   139
        memcpy(data.devices[0].address,
51a8b41d3dbc Display real ethernet address.
Florian Pose <fp@igh-essen.com>
parents: 1150
diff changeset
   140
                master->main_device.dev->dev_addr, ETH_ALEN);
51a8b41d3dbc Display real ethernet address.
Florian Pose <fp@igh-essen.com>
parents: 1150
diff changeset
   141
    } else {
51a8b41d3dbc Display real ethernet address.
Florian Pose <fp@igh-essen.com>
parents: 1150
diff changeset
   142
        memcpy(data.devices[0].address, master->main_mac, ETH_ALEN); 
51a8b41d3dbc Display real ethernet address.
Florian Pose <fp@igh-essen.com>
parents: 1150
diff changeset
   143
    }
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   144
    data.devices[0].attached = master->main_device.dev ? 1 : 0;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   145
    data.devices[0].tx_count = master->main_device.tx_count;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   146
    data.devices[0].rx_count = master->main_device.rx_count;
1162
51a8b41d3dbc Display real ethernet address.
Florian Pose <fp@igh-essen.com>
parents: 1150
diff changeset
   147
51a8b41d3dbc Display real ethernet address.
Florian Pose <fp@igh-essen.com>
parents: 1150
diff changeset
   148
    if (master->backup_device.dev) {
51a8b41d3dbc Display real ethernet address.
Florian Pose <fp@igh-essen.com>
parents: 1150
diff changeset
   149
        memcpy(data.devices[1].address,
51a8b41d3dbc Display real ethernet address.
Florian Pose <fp@igh-essen.com>
parents: 1150
diff changeset
   150
                master->backup_device.dev->dev_addr, ETH_ALEN); 
51a8b41d3dbc Display real ethernet address.
Florian Pose <fp@igh-essen.com>
parents: 1150
diff changeset
   151
    } else {
51a8b41d3dbc Display real ethernet address.
Florian Pose <fp@igh-essen.com>
parents: 1150
diff changeset
   152
        memcpy(data.devices[1].address, master->backup_mac, ETH_ALEN); 
51a8b41d3dbc Display real ethernet address.
Florian Pose <fp@igh-essen.com>
parents: 1150
diff changeset
   153
    }
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   154
    data.devices[1].attached = master->backup_device.dev ? 1 : 0;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   155
    data.devices[1].tx_count = master->backup_device.tx_count;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   156
    data.devices[1].rx_count = master->backup_device.rx_count;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   157
    up(&master->device_sem);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   158
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   159
    if (copy_to_user((void __user *) arg, &data, sizeof(data)))
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   160
        return -EFAULT;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   161
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   162
    return 0;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   163
}
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   164
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   165
/*****************************************************************************/
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   166
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   167
/** Get slave information.
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   168
 */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   169
int ec_cdev_ioctl_slave(
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   170
        ec_master_t *master, /**< EtherCAT master. */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   171
        unsigned long arg /**< Userspace address to store the results. */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   172
        )
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   173
{
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   174
    ec_ioctl_slave_t data;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   175
    const ec_slave_t *slave;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   176
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   177
    if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   178
        return -EFAULT;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   179
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   180
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   181
    down(&master->master_sem);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   182
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   183
    if (!(slave = ec_master_find_slave_const(
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   184
                    master, 0, data.position))) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   185
        up(&master->master_sem);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   186
        EC_ERR("Slave %u does not exist!\n", data.position);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   187
        return -EINVAL;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   188
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   189
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   190
    data.vendor_id = slave->sii.vendor_id;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   191
    data.product_code = slave->sii.product_code;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   192
    data.revision_number = slave->sii.revision_number;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   193
    data.serial_number = slave->sii.serial_number;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   194
    data.alias = slave->sii.alias;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   195
    data.rx_mailbox_offset = slave->sii.rx_mailbox_offset;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   196
    data.rx_mailbox_size = slave->sii.rx_mailbox_size;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   197
    data.tx_mailbox_offset = slave->sii.tx_mailbox_offset;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   198
    data.tx_mailbox_size = slave->sii.tx_mailbox_size;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   199
    data.mailbox_protocols = slave->sii.mailbox_protocols;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   200
    data.has_general_category = slave->sii.has_general;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   201
    data.coe_details = slave->sii.coe_details;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   202
    data.general_flags = slave->sii.general_flags;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   203
    data.current_on_ebus = slave->sii.current_on_ebus;
1148
1762296870bd Renamed state field to al_state.
Florian Pose <fp@igh-essen.com>
parents: 1147
diff changeset
   204
    data.al_state = slave->current_state;
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   205
    data.error_flag = slave->error_flag;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   206
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   207
    data.sync_count = slave->sii.sync_count;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   208
    data.sdo_count = ec_slave_sdo_count(slave);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   209
    data.sii_nwords = slave->sii_nwords;
1109
11ac4051db6b Group/Image/Order strings in slave ioctl; order number as text content
Florian Pose <fp@igh-essen.com>
parents: 1108
diff changeset
   210
    ec_cdev_strcpy(data.group, slave->sii.group);
11ac4051db6b Group/Image/Order strings in slave ioctl; order number as text content
Florian Pose <fp@igh-essen.com>
parents: 1108
diff changeset
   211
    ec_cdev_strcpy(data.image, slave->sii.image);
11ac4051db6b Group/Image/Order strings in slave ioctl; order number as text content
Florian Pose <fp@igh-essen.com>
parents: 1108
diff changeset
   212
    ec_cdev_strcpy(data.order, slave->sii.order);
1108
7beba3e7e6b4 Added ec_cdev_strcpy() function.
Florian Pose <fp@igh-essen.com>
parents: 1092
diff changeset
   213
    ec_cdev_strcpy(data.name, slave->sii.name);
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   214
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   215
    up(&master->master_sem);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   216
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   217
    if (copy_to_user((void __user *) arg, &data, sizeof(data)))
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   218
        return -EFAULT;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   219
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   220
    return 0;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   221
}
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   222
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   223
/*****************************************************************************/
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   224
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   225
/** Get slave sync manager information.
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   226
 */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   227
int ec_cdev_ioctl_slave_sync(
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   228
        ec_master_t *master, /**< EtherCAT master. */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   229
        unsigned long arg /**< Userspace address to store the results. */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   230
        )
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   231
{
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   232
    ec_ioctl_slave_sync_t data;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   233
    const ec_slave_t *slave;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   234
    const ec_sync_t *sync;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   235
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   236
    if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   237
        return -EFAULT;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   238
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   239
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   240
    down(&master->master_sem);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   241
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   242
    if (!(slave = ec_master_find_slave_const(
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   243
                    master, 0, data.slave_position))) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   244
        up(&master->master_sem);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   245
        EC_ERR("Slave %u does not exist!\n", data.slave_position);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   246
        return -EINVAL;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   247
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   248
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   249
    if (data.sync_index >= slave->sii.sync_count) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   250
        up(&master->master_sem);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   251
        EC_ERR("Sync manager %u does not exist in slave %u!\n",
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   252
                data.sync_index, data.slave_position);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   253
        return -EINVAL;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   254
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   255
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   256
    sync = &slave->sii.syncs[data.sync_index];
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   257
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   258
    data.physical_start_address = sync->physical_start_address;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   259
    data.default_size = sync->default_length;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   260
    data.control_register = sync->control_register;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   261
    data.enable = sync->enable;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   262
    data.assign_source = sync->assign_source;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   263
    data.pdo_count = ec_pdo_list_count(&sync->pdos);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   264
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   265
    up(&master->master_sem);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   266
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   267
    if (copy_to_user((void __user *) arg, &data, sizeof(data)))
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   268
        return -EFAULT;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   269
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   270
    return 0;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   271
}
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   272
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   273
/*****************************************************************************/
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   274
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   275
/** Get slave sync manager Pdo information.
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   276
 */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   277
int ec_cdev_ioctl_slave_sync_pdo(
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   278
        ec_master_t *master, /**< EtherCAT master. */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   279
        unsigned long arg /**< Userspace address to store the results. */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   280
        )
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   281
{
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   282
    ec_ioctl_slave_sync_pdo_t data;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   283
    const ec_slave_t *slave;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   284
    const ec_sync_t *sync;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   285
    const ec_pdo_t *pdo;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   286
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   287
    if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   288
        return -EFAULT;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   289
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   290
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   291
    down(&master->master_sem);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   292
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   293
    if (!(slave = ec_master_find_slave_const(
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   294
                    master, 0, data.slave_position))) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   295
        up(&master->master_sem);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   296
        EC_ERR("Slave %u does not exist!\n", data.slave_position);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   297
        return -EINVAL;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   298
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   299
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   300
    if (data.sync_index >= slave->sii.sync_count) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   301
        up(&master->master_sem);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   302
        EC_ERR("Sync manager %u does not exist in slave %u!\n",
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   303
                data.sync_index, data.slave_position);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   304
        return -EINVAL;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   305
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   306
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   307
    sync = &slave->sii.syncs[data.sync_index];
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   308
    if (!(pdo = ec_pdo_list_find_pdo_by_pos_const(
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   309
                    &sync->pdos, data.pdo_pos))) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   310
        up(&master->master_sem);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   311
        EC_ERR("Sync manager %u does not contain a Pdo with "
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   312
                "position %u in slave %u!\n", data.sync_index,
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   313
                data.pdo_pos, data.slave_position);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   314
        return -EINVAL;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   315
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   316
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   317
    data.index = pdo->index;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   318
    data.entry_count = ec_pdo_entry_count(pdo);
1108
7beba3e7e6b4 Added ec_cdev_strcpy() function.
Florian Pose <fp@igh-essen.com>
parents: 1092
diff changeset
   319
    ec_cdev_strcpy(data.name, pdo->name);
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   320
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   321
    up(&master->master_sem);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   322
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   323
    if (copy_to_user((void __user *) arg, &data, sizeof(data)))
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   324
        return -EFAULT;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   325
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   326
    return 0;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   327
}
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   328
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   329
/*****************************************************************************/
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   330
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   331
/** Get slave sync manager Pdo entry information.
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   332
 */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   333
int ec_cdev_ioctl_slave_sync_pdo_entry(
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   334
        ec_master_t *master, /**< EtherCAT master. */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   335
        unsigned long arg /**< Userspace address to store the results. */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   336
        )
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   337
{
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   338
    ec_ioctl_slave_sync_pdo_entry_t data;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   339
    const ec_slave_t *slave;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   340
    const ec_sync_t *sync;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   341
    const ec_pdo_t *pdo;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   342
    const ec_pdo_entry_t *entry;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   343
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   344
    if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   345
        return -EFAULT;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   346
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   347
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   348
    down(&master->master_sem);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   349
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   350
    if (!(slave = ec_master_find_slave_const(
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   351
                    master, 0, data.slave_position))) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   352
        up(&master->master_sem);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   353
        EC_ERR("Slave %u does not exist!\n", data.slave_position);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   354
        return -EINVAL;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   355
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   356
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   357
    if (data.sync_index >= slave->sii.sync_count) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   358
        up(&master->master_sem);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   359
        EC_ERR("Sync manager %u does not exist in slave %u!\n",
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   360
                data.sync_index, data.slave_position);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   361
        return -EINVAL;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   362
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   363
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   364
    sync = &slave->sii.syncs[data.sync_index];
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   365
    if (!(pdo = ec_pdo_list_find_pdo_by_pos_const(
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   366
                    &sync->pdos, data.pdo_pos))) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   367
        up(&master->master_sem);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   368
        EC_ERR("Sync manager %u does not contain a Pdo with "
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   369
                "position %u in slave %u!\n", data.sync_index,
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   370
                data.pdo_pos, data.slave_position);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   371
        return -EINVAL;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   372
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   373
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   374
    if (!(entry = ec_pdo_find_entry_by_pos_const(
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   375
                    pdo, data.entry_pos))) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   376
        up(&master->master_sem);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   377
        EC_ERR("Pdo 0x%04X does not contain an entry with "
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   378
                "position %u in slave %u!\n", data.pdo_pos,
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   379
                data.entry_pos, data.slave_position);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   380
        return -EINVAL;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   381
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   382
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   383
    data.index = entry->index;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   384
    data.subindex = entry->subindex;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   385
    data.bit_length = entry->bit_length;
1108
7beba3e7e6b4 Added ec_cdev_strcpy() function.
Florian Pose <fp@igh-essen.com>
parents: 1092
diff changeset
   386
    ec_cdev_strcpy(data.name, entry->name);
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   387
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   388
    up(&master->master_sem);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   389
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   390
    if (copy_to_user((void __user *) arg, &data, sizeof(data)))
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   391
        return -EFAULT;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   392
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   393
    return 0;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   394
}
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   395
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   396
/*****************************************************************************/
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   397
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   398
/** Get domain information.
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   399
 */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   400
int ec_cdev_ioctl_domain(
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   401
        ec_master_t *master, /**< EtherCAT master. */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   402
        unsigned long arg /**< Userspace address to store the results. */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   403
        )
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   404
{
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   405
    ec_ioctl_domain_t data;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   406
    const ec_domain_t *domain;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   407
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   408
    if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   409
        return -EFAULT;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   410
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   411
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   412
    down(&master->master_sem);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   413
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   414
    if (!(domain = ec_master_find_domain_const(master, data.index))) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   415
        up(&master->master_sem);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   416
        EC_ERR("Domain %u does not exist!\n", data.index);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   417
        return -EINVAL;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   418
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   419
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   420
    data.data_size = domain->data_size;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   421
    data.logical_base_address = domain->logical_base_address;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   422
    data.working_counter = domain->working_counter;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   423
    data.expected_working_counter = domain->expected_working_counter;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   424
    data.fmmu_count = ec_domain_fmmu_count(domain);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   425
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   426
    up(&master->master_sem);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   427
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   428
    if (copy_to_user((void __user *) arg, &data, sizeof(data)))
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   429
        return -EFAULT;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   430
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   431
    return 0;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   432
}
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   433
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   434
/*****************************************************************************/
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   435
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   436
/** Get domain FMMU information.
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   437
 */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   438
int ec_cdev_ioctl_domain_fmmu(
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   439
        ec_master_t *master, /**< EtherCAT master. */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   440
        unsigned long arg /**< Userspace address to store the results. */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   441
        )
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   442
{
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   443
    ec_ioctl_domain_fmmu_t data;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   444
    const ec_domain_t *domain;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   445
    const ec_fmmu_config_t *fmmu;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   446
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   447
    if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   448
        return -EFAULT;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   449
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   450
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   451
    down(&master->master_sem);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   452
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   453
    if (!(domain = ec_master_find_domain_const(master, data.domain_index))) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   454
        up(&master->master_sem);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   455
        EC_ERR("Domain %u does not exist!\n", data.domain_index);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   456
        return -EINVAL;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   457
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   458
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   459
    if (!(fmmu = ec_domain_find_fmmu(domain, data.fmmu_index))) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   460
        up(&master->master_sem);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   461
        EC_ERR("Domain %u has less than %u fmmu configurations.\n",
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   462
                data.domain_index, data.fmmu_index + 1);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   463
        return -EINVAL;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   464
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   465
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   466
    data.slave_config_alias = fmmu->sc->alias;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   467
    data.slave_config_position = fmmu->sc->position;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   468
    data.sync_index = fmmu->sync_index;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   469
    data.dir = fmmu->dir;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   470
    data.logical_address = fmmu->logical_start_address;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   471
    data.data_size = fmmu->data_size;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   472
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   473
    up(&master->master_sem);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   474
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   475
    if (copy_to_user((void __user *) arg, &data, sizeof(data)))
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   476
        return -EFAULT;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   477
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   478
    return 0;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   479
}
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   480
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   481
/*****************************************************************************/
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   482
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   483
/** Get domain data.
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   484
 */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   485
int ec_cdev_ioctl_domain_data(
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   486
        ec_master_t *master, /**< EtherCAT master. */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   487
        unsigned long arg /**< Userspace address to store the results. */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   488
        )
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   489
{
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   490
    ec_ioctl_domain_data_t data;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   491
    const ec_domain_t *domain;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   492
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   493
    if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   494
        return -EFAULT;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   495
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   496
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   497
    down(&master->master_sem);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   498
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   499
    if (!(domain = ec_master_find_domain_const(master, data.domain_index))) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   500
        up(&master->master_sem);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   501
        EC_ERR("Domain %u does not exist!\n", data.domain_index);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   502
        return -EINVAL;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   503
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   504
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   505
    if (domain->data_size != data.data_size) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   506
        up(&master->master_sem);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   507
        EC_ERR("Data size mismatch %u/%u!\n",
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   508
                data.data_size, domain->data_size);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   509
        return -EFAULT;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   510
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   511
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   512
    if (copy_to_user((void __user *) data.target, domain->data,
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   513
                domain->data_size))
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   514
        return -EFAULT;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   515
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   516
    up(&master->master_sem);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   517
    return 0;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   518
}
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   519
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   520
/*****************************************************************************/
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   521
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   522
/** Set master debug level.
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   523
 */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   524
int ec_cdev_ioctl_master_debug(
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   525
        ec_master_t *master, /**< EtherCAT master. */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   526
        unsigned long arg /**< ioctl() argument. */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   527
        )
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   528
{
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   529
    if (ec_master_debug_level(master, (unsigned int) arg))
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   530
        return -EINVAL;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   531
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   532
    return 0;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   533
}
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   534
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   535
/*****************************************************************************/
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   536
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   537
/** Set slave state.
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   538
 */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   539
int ec_cdev_ioctl_slave_state(
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   540
        ec_master_t *master, /**< EtherCAT master. */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   541
        unsigned long arg /**< ioctl() argument. */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   542
        )
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   543
{
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   544
    ec_ioctl_slave_state_t data;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   545
    ec_slave_t *slave;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   546
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   547
    if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   548
        return -EFAULT;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   549
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   550
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   551
    down(&master->master_sem);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   552
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   553
    if (!(slave = ec_master_find_slave(
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   554
                    master, 0, data.slave_position))) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   555
        EC_ERR("Slave %u does not exist!\n", data.slave_position);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   556
        return -EINVAL;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   557
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   558
1150
c589b54ade01 Fixed requested_state.
Florian Pose <fp@igh-essen.com>
parents: 1148
diff changeset
   559
    ec_slave_request_state(slave, data.al_state);
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   560
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   561
    up(&master->master_sem);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   562
    return 0;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   563
}
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   564
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   565
/*****************************************************************************/
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   566
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   567
/** Get slave Sdo information.
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   568
 */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   569
int ec_cdev_ioctl_slave_sdo(
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   570
        ec_master_t *master, /**< EtherCAT master. */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   571
        unsigned long arg /**< ioctl() argument. */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   572
        )
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   573
{
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   574
    ec_ioctl_slave_sdo_t data;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   575
    const ec_slave_t *slave;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   576
    const ec_sdo_t *sdo;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   577
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   578
    if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   579
        return -EFAULT;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   580
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   581
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   582
    down(&master->master_sem);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   583
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   584
    if (!(slave = ec_master_find_slave_const(
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   585
                    master, 0, data.slave_position))) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   586
        up(&master->master_sem);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   587
        EC_ERR("Slave %u does not exist!\n", data.slave_position);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   588
        return -EINVAL;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   589
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   590
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   591
    if (!(sdo = ec_slave_get_sdo_by_pos_const(
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   592
                    slave, data.sdo_position))) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   593
        up(&master->master_sem);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   594
        EC_ERR("Sdo %u does not exist in slave %u!\n",
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   595
                data.sdo_position, data.slave_position);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   596
        return -EINVAL;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   597
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   598
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   599
    data.sdo_index = sdo->index;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   600
    data.max_subindex = sdo->max_subindex;
1108
7beba3e7e6b4 Added ec_cdev_strcpy() function.
Florian Pose <fp@igh-essen.com>
parents: 1092
diff changeset
   601
    ec_cdev_strcpy(data.name, sdo->name);
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   602
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   603
    up(&master->master_sem);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   604
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   605
    if (copy_to_user((void __user *) arg, &data, sizeof(data)))
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   606
        return -EFAULT;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   607
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   608
    return 0;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   609
}
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   610
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   611
/*****************************************************************************/
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   612
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   613
/** Get slave Sdo entry information.
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   614
 */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   615
int ec_cdev_ioctl_slave_sdo_entry(
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   616
        ec_master_t *master, /**< EtherCAT master. */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   617
        unsigned long arg /**< ioctl() argument. */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   618
        )
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   619
{
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   620
    ec_ioctl_slave_sdo_entry_t data;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   621
    const ec_slave_t *slave;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   622
    const ec_sdo_t *sdo;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   623
    const ec_sdo_entry_t *entry;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   624
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   625
    if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   626
        return -EFAULT;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   627
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   628
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   629
    down(&master->master_sem);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   630
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   631
    if (!(slave = ec_master_find_slave_const(
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   632
                    master, 0, data.slave_position))) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   633
        up(&master->master_sem);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   634
        EC_ERR("Slave %u does not exist!\n", data.slave_position);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   635
        return -EINVAL;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   636
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   637
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   638
    if (data.sdo_spec <= 0) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   639
        if (!(sdo = ec_slave_get_sdo_by_pos_const(
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   640
                        slave, -data.sdo_spec))) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   641
            up(&master->master_sem);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   642
            EC_ERR("Sdo %u does not exist in slave %u!\n",
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   643
                    -data.sdo_spec, data.slave_position);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   644
            return -EINVAL;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   645
        }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   646
    } else {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   647
        if (!(sdo = ec_slave_get_sdo_const(
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   648
                        slave, data.sdo_spec))) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   649
            up(&master->master_sem);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   650
            EC_ERR("Sdo 0x%04X does not exist in slave %u!\n",
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   651
                    data.sdo_spec, data.slave_position);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   652
            return -EINVAL;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   653
        }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   654
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   655
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   656
    if (!(entry = ec_sdo_get_entry_const(
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   657
                    sdo, data.sdo_entry_subindex))) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   658
        up(&master->master_sem);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   659
        EC_ERR("Sdo entry 0x%04X:%02X does not exist "
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   660
                "in slave %u!\n", sdo->index,
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   661
                data.sdo_entry_subindex, data.slave_position);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   662
        return -EINVAL;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   663
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   664
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   665
    data.data_type = entry->data_type;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   666
    data.bit_length = entry->bit_length;
1108
7beba3e7e6b4 Added ec_cdev_strcpy() function.
Florian Pose <fp@igh-essen.com>
parents: 1092
diff changeset
   667
    ec_cdev_strcpy(data.description, entry->description);
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   668
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   669
    up(&master->master_sem);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   670
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   671
    if (copy_to_user((void __user *) arg, &data, sizeof(data)))
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   672
        return -EFAULT;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   673
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   674
    return 0;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   675
}
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   676
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   677
/*****************************************************************************/
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   678
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   679
/** Upload Sdo.
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   680
 */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   681
int ec_cdev_ioctl_slave_sdo_upload(
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   682
        ec_master_t *master, /**< EtherCAT master. */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   683
        unsigned long arg /**< ioctl() argument. */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   684
        )
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   685
{
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   686
    ec_ioctl_slave_sdo_upload_t data;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   687
    ec_master_sdo_request_t request;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   688
    int retval;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   689
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   690
    if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   691
        return -EFAULT;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   692
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   693
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   694
    ec_sdo_request_init(&request.req);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   695
    ec_sdo_request_address(&request.req,
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   696
            data.sdo_index, data.sdo_entry_subindex);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   697
    ecrt_sdo_request_read(&request.req);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   698
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   699
    down(&master->master_sem);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   700
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   701
    if (!(request.slave = ec_master_find_slave(
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   702
                    master, 0, data.slave_position))) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   703
        up(&master->master_sem);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   704
        ec_sdo_request_clear(&request.req);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   705
        EC_ERR("Slave %u does not exist!\n", data.slave_position);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   706
        return -EINVAL;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   707
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   708
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   709
    // schedule request.
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   710
    list_add_tail(&request.list, &master->slave_sdo_requests);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   711
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   712
    up(&master->master_sem);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   713
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   714
    // wait for processing through FSM
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   715
    if (wait_event_interruptible(master->sdo_queue,
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   716
                request.req.state != EC_REQUEST_QUEUED)) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   717
        // interrupted by signal
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   718
        down(&master->master_sem);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   719
        if (request.req.state == EC_REQUEST_QUEUED) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   720
            list_del(&request.req.list);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   721
            up(&master->master_sem);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   722
            ec_sdo_request_clear(&request.req);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   723
            return -EINTR;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   724
        }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   725
        // request already processing: interrupt not possible.
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   726
        up(&master->master_sem);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   727
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   728
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   729
    // wait until master FSM has finished processing
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   730
    wait_event(master->sdo_queue, request.req.state != EC_REQUEST_BUSY);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   731
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   732
    data.abort_code = request.req.abort_code;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   733
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   734
    if (request.req.state != EC_REQUEST_SUCCESS) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   735
        data.data_size = 0;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   736
        retval = -EIO;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   737
    } else {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   738
        if (request.req.data_size > data.target_size) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   739
            EC_ERR("Buffer too small.\n");
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   740
            ec_sdo_request_clear(&request.req);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   741
            return -EOVERFLOW;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   742
        }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   743
        data.data_size = request.req.data_size;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   744
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   745
        if (copy_to_user((void __user *) data.target,
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   746
                    request.req.data, data.data_size)) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   747
            ec_sdo_request_clear(&request.req);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   748
            return -EFAULT;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   749
        }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   750
        retval = 0;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   751
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   752
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   753
    if (__copy_to_user((void __user *) arg, &data, sizeof(data))) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   754
        retval = -EFAULT;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   755
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   756
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   757
    ec_sdo_request_clear(&request.req);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   758
    return retval;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   759
}
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   760
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   761
/*****************************************************************************/
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   762
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   763
/** Download Sdo.
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   764
 */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   765
int ec_cdev_ioctl_slave_sdo_download(
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   766
        ec_master_t *master, /**< EtherCAT master. */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   767
        unsigned long arg /**< ioctl() argument. */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   768
        )
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   769
{
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   770
    ec_ioctl_slave_sdo_download_t data;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   771
    ec_master_sdo_request_t request;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   772
    int retval;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   773
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   774
    if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   775
        return -EFAULT;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   776
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   777
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   778
    // copy data to download
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   779
    if (!data.data_size) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   780
        EC_ERR("Zero data size!\n");
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   781
        return -EINVAL;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   782
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   783
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   784
    ec_sdo_request_init(&request.req);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   785
    ec_sdo_request_address(&request.req,
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   786
            data.sdo_index, data.sdo_entry_subindex);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   787
    if (ec_sdo_request_alloc(&request.req, data.data_size)) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   788
        ec_sdo_request_clear(&request.req);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   789
        return -ENOMEM;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   790
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   791
    if (copy_from_user(request.req.data,
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   792
                (void __user *) data.data, data.data_size)) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   793
        ec_sdo_request_clear(&request.req);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   794
        return -EFAULT;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   795
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   796
    request.req.data_size = data.data_size;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   797
    ecrt_sdo_request_write(&request.req);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   798
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   799
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   800
    down(&master->master_sem);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   801
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   802
    if (!(request.slave = ec_master_find_slave(
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   803
                    master, 0, data.slave_position))) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   804
        up(&master->master_sem);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   805
        EC_ERR("Slave %u does not exist!\n", data.slave_position);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   806
        ec_sdo_request_clear(&request.req);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   807
        return -EINVAL;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   808
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   809
    
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   810
    // schedule request.
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   811
    list_add_tail(&request.list, &master->slave_sdo_requests);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   812
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   813
    up(&master->master_sem);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   814
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   815
    // wait for processing through FSM
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   816
    if (wait_event_interruptible(master->sdo_queue,
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   817
                request.req.state != EC_REQUEST_QUEUED)) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   818
        // interrupted by signal
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   819
        down(&master->master_sem);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   820
        if (request.req.state == EC_REQUEST_QUEUED) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   821
            list_del(&request.req.list);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   822
            up(&master->master_sem);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   823
            ec_sdo_request_clear(&request.req);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   824
            return -EINTR;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   825
        }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   826
        // request already processing: interrupt not possible.
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   827
        up(&master->master_sem);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   828
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   829
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   830
    // wait until master FSM has finished processing
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   831
    wait_event(master->sdo_queue, request.req.state != EC_REQUEST_BUSY);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   832
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   833
    data.abort_code = request.req.abort_code;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   834
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   835
    retval = request.req.state == EC_REQUEST_SUCCESS ? 0 : -EIO;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   836
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   837
    if (__copy_to_user((void __user *) arg, &data, sizeof(data))) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   838
        retval = -EFAULT;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   839
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   840
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   841
    ec_sdo_request_clear(&request.req);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   842
    return retval;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   843
}
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   844
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   845
/*****************************************************************************/
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   846
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   847
/** Read a slave's SII.
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   848
 */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   849
int ec_cdev_ioctl_slave_sii_read(
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   850
        ec_master_t *master, /**< EtherCAT master. */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   851
        unsigned long arg /**< ioctl() argument. */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   852
        )
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   853
{
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   854
    ec_ioctl_slave_sii_t data;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   855
    const ec_slave_t *slave;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   856
    int retval;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   857
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   858
    if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   859
        return -EFAULT;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   860
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   861
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   862
    down(&master->master_sem);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   863
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   864
    if (!(slave = ec_master_find_slave_const(
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   865
                    master, 0, data.slave_position))) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   866
        up(&master->master_sem);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   867
        EC_ERR("Slave %u does not exist!\n", data.slave_position);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   868
        return -EINVAL;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   869
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   870
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   871
    if (!data.nwords
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   872
            || data.offset + data.nwords > slave->sii_nwords) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   873
        up(&master->master_sem);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   874
        EC_ERR("Invalid SII read offset/size %u/%u for slave "
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   875
                "SII size %u!\n", data.offset,
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   876
                data.nwords, slave->sii_nwords);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   877
        return -EINVAL;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   878
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   879
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   880
    if (copy_to_user((void __user *) data.words,
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   881
                slave->sii_words + data.offset, data.nwords * 2))
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   882
        retval = -EFAULT;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   883
    else
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   884
        retval = 0;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   885
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   886
    up(&master->master_sem);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   887
    return retval;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   888
}
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   889
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   890
/*****************************************************************************/
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   891
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   892
/** Write a slave's SII.
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   893
 */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   894
int ec_cdev_ioctl_slave_sii_write(
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   895
        ec_master_t *master, /**< EtherCAT master. */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   896
        unsigned long arg /**< ioctl() argument. */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   897
        )
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   898
{
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   899
    ec_ioctl_slave_sii_t data;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   900
    ec_slave_t *slave;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   901
    unsigned int byte_size;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   902
    uint16_t *words;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   903
    ec_sii_write_request_t request;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   904
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   905
    if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   906
        return -EFAULT;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   907
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   908
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   909
    if (!data.nwords)
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   910
        return 0;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   911
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   912
    byte_size = sizeof(uint16_t) * data.nwords;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   913
    if (!(words = kmalloc(byte_size, GFP_KERNEL))) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   914
        EC_ERR("Failed to allocate %u bytes for SII contents.\n",
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   915
                byte_size);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   916
        return -ENOMEM;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   917
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   918
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   919
    if (copy_from_user(words,
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   920
                (void __user *) data.words, byte_size)) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   921
        kfree(words);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   922
        return -EFAULT;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   923
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   924
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   925
    down(&master->master_sem);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   926
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   927
    if (!(slave = ec_master_find_slave(
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   928
                    master, 0, data.slave_position))) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   929
        up(&master->master_sem);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   930
        EC_ERR("Slave %u does not exist!\n", data.slave_position);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   931
        kfree(words);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   932
        return -EINVAL;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   933
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   934
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   935
    // init SII write request
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   936
    INIT_LIST_HEAD(&request.list);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   937
    request.slave = slave;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   938
    request.words = words;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   939
    request.offset = data.offset;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   940
    request.nwords = data.nwords;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   941
    request.state = EC_REQUEST_QUEUED;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   942
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   943
    // schedule SII write request.
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   944
    list_add_tail(&request.list, &master->sii_requests);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   945
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   946
    up(&master->master_sem);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   947
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   948
    // wait for processing through FSM
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   949
    if (wait_event_interruptible(master->sii_queue,
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   950
                request.state != EC_REQUEST_QUEUED)) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   951
        // interrupted by signal
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   952
        down(&master->master_sem);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   953
        if (request.state == EC_REQUEST_QUEUED) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   954
            // abort request
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   955
            list_del(&request.list);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   956
            up(&master->master_sem);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   957
            kfree(words);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   958
            return -EINTR;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   959
        }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   960
        up(&master->master_sem);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   961
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   962
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   963
    // wait until master FSM has finished processing
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   964
    wait_event(master->sii_queue, request.state != EC_REQUEST_BUSY);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   965
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   966
    kfree(words);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   967
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   968
    return request.state == EC_REQUEST_SUCCESS ? 0 : -EIO;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   969
}
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   970
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   971
/*****************************************************************************/
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   972
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   973
/** Get slave configuration information.
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   974
 */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   975
int ec_cdev_ioctl_config(
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   976
        ec_master_t *master, /**< EtherCAT master. */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   977
        unsigned long arg /**< ioctl() argument. */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   978
        )
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   979
{
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   980
    ec_ioctl_config_t data;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   981
    const ec_slave_config_t *sc;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   982
    uint8_t i;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   983
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   984
    if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   985
        return -EFAULT;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   986
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   987
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   988
    down(&master->master_sem);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   989
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   990
    if (!(sc = ec_master_get_config_const(
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   991
                    master, data.config_index))) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   992
        up(&master->master_sem);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   993
        EC_ERR("Slave config %u does not exist!\n",
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   994
                data.config_index);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   995
        return -EINVAL;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   996
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   997
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   998
    data.alias = sc->alias;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   999
    data.position = sc->position;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1000
    data.vendor_id = sc->vendor_id;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1001
    data.product_code = sc->product_code;
1082
ff06c58e269c Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Florian Pose <fp@igh-essen.com>
parents: 1079
diff changeset
  1002
    for (i = 0; i < EC_MAX_SYNC_MANAGERS; i++) {
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1003
        data.syncs[i].dir = sc->sync_configs[i].dir;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1004
        data.syncs[i].pdo_count =
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1005
            ec_pdo_list_count(&sc->sync_configs[i].pdos);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1006
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1007
    data.sdo_count = ec_slave_config_sdo_count(sc);
1147
0eac1ee8512a Show attached slave position and state in 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 1109
diff changeset
  1008
    data.slave_position = sc->slave ? sc->slave->ring_position : -1;
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1009
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1010
    up(&master->master_sem);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1011
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1012
    if (copy_to_user((void __user *) arg, &data, sizeof(data)))
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1013
        return -EFAULT;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1014
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1015
    return 0;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1016
}
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1017
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1018
/*****************************************************************************/
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1019
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1020
/** Get slave configuration Pdo information.
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1021
 */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1022
int ec_cdev_ioctl_config_pdo(
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1023
        ec_master_t *master, /**< EtherCAT master. */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1024
        unsigned long arg /**< ioctl() argument. */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1025
        )
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1026
{
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1027
    ec_ioctl_config_pdo_t data;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1028
    const ec_slave_config_t *sc;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1029
    const ec_pdo_t *pdo;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1030
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1031
    if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1032
        return -EFAULT;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1033
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1034
1082
ff06c58e269c Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Florian Pose <fp@igh-essen.com>
parents: 1079
diff changeset
  1035
    if (data.sync_index >= EC_MAX_SYNC_MANAGERS) {
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1036
        EC_ERR("Invalid sync manager index %u!\n",
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1037
                data.sync_index);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1038
        return -EINVAL;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1039
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1040
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1041
    down(&master->master_sem);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1042
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1043
    if (!(sc = ec_master_get_config_const(
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1044
                    master, data.config_index))) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1045
        up(&master->master_sem);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1046
        EC_ERR("Slave config %u does not exist!\n",
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1047
                data.config_index);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1048
        return -EINVAL;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1049
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1050
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1051
    if (!(pdo = ec_pdo_list_find_pdo_by_pos_const(
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1052
                    &sc->sync_configs[data.sync_index].pdos,
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1053
                    data.pdo_pos))) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1054
        up(&master->master_sem);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1055
        EC_ERR("Invalid Pdo position!\n");
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1056
        return -EINVAL;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1057
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1058
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1059
    data.index = pdo->index;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1060
    data.entry_count = ec_pdo_entry_count(pdo);
1108
7beba3e7e6b4 Added ec_cdev_strcpy() function.
Florian Pose <fp@igh-essen.com>
parents: 1092
diff changeset
  1061
    ec_cdev_strcpy(data.name, pdo->name);
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1062
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1063
    up(&master->master_sem);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1064
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1065
    if (copy_to_user((void __user *) arg, &data, sizeof(data)))
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1066
        return -EFAULT;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1067
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1068
    return 0;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1069
}
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1070
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1071
/*****************************************************************************/
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1072
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1073
/** Get slave configuration Pdo entry information.
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1074
 */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1075
int ec_cdev_ioctl_config_pdo_entry(
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1076
        ec_master_t *master, /**< EtherCAT master. */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1077
        unsigned long arg /**< ioctl() argument. */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1078
        )
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1079
{
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1080
    ec_ioctl_config_pdo_entry_t data;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1081
    const ec_slave_config_t *sc;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1082
    const ec_pdo_t *pdo;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1083
    const ec_pdo_entry_t *entry;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1084
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1085
    if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1086
        return -EFAULT;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1087
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1088
1082
ff06c58e269c Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Florian Pose <fp@igh-essen.com>
parents: 1079
diff changeset
  1089
    if (data.sync_index >= EC_MAX_SYNC_MANAGERS) {
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1090
        EC_ERR("Invalid sync manager index %u!\n",
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1091
                data.sync_index);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1092
        return -EINVAL;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1093
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1094
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1095
    down(&master->master_sem);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1096
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1097
    if (!(sc = ec_master_get_config_const(
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1098
                    master, data.config_index))) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1099
        up(&master->master_sem);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1100
        EC_ERR("Slave config %u does not exist!\n",
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1101
                data.config_index);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1102
        return -EINVAL;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1103
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1104
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1105
    if (!(pdo = ec_pdo_list_find_pdo_by_pos_const(
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1106
                    &sc->sync_configs[data.sync_index].pdos,
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1107
                    data.pdo_pos))) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1108
        up(&master->master_sem);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1109
        EC_ERR("Invalid Pdo position!\n");
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1110
        return -EINVAL;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1111
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1112
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1113
    if (!(entry = ec_pdo_find_entry_by_pos_const(
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1114
                    pdo, data.entry_pos))) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1115
        up(&master->master_sem);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1116
        EC_ERR("Entry not found!\n");
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1117
        return -EINVAL;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1118
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1119
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1120
    data.index = entry->index;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1121
    data.subindex = entry->subindex;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1122
    data.bit_length = entry->bit_length;
1108
7beba3e7e6b4 Added ec_cdev_strcpy() function.
Florian Pose <fp@igh-essen.com>
parents: 1092
diff changeset
  1123
    ec_cdev_strcpy(data.name, entry->name);
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1124
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1125
    up(&master->master_sem);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1126
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1127
    if (copy_to_user((void __user *) arg, &data, sizeof(data)))
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1128
        return -EFAULT;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1129
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1130
    return 0;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1131
}
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1132
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1133
/*****************************************************************************/
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1134
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1135
/** Get slave configuration Sdo information.
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1136
 */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1137
int ec_cdev_ioctl_config_sdo(
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1138
        ec_master_t *master, /**< EtherCAT master. */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1139
        unsigned long arg /**< ioctl() argument. */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1140
        )
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1141
{
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1142
    ec_ioctl_config_sdo_t data;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1143
    const ec_slave_config_t *sc;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1144
    const ec_sdo_request_t *req;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1145
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1146
    if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1147
        return -EFAULT;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1148
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1149
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1150
    down(&master->master_sem);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1151
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1152
    if (!(sc = ec_master_get_config_const(
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1153
                    master, data.config_index))) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1154
        up(&master->master_sem);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1155
        EC_ERR("Slave config %u does not exist!\n",
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1156
                data.config_index);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1157
        return -EINVAL;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1158
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1159
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1160
    if (!(req = ec_slave_config_get_sdo_by_pos_const(
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1161
                    sc, data.sdo_pos))) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1162
        up(&master->master_sem);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1163
        EC_ERR("Invalid Sdo position!\n");
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1164
        return -EINVAL;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1165
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1166
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1167
    data.index = req->index;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1168
    data.subindex = req->subindex;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1169
    data.size = req->data_size;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1170
    memcpy(&data.data, req->data, min((u32) data.size, (u32) 4));
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1171
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1172
    up(&master->master_sem);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1173
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1174
    if (copy_to_user((void __user *) arg, &data, sizeof(data)))
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1175
        return -EFAULT;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1176
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1177
    return 0;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1178
}
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1179
922
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1180
/******************************************************************************
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1181
 * File operations
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1182
 *****************************************************************************/
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1183
1092
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1082
diff changeset
  1184
/** Called when the cdev is opened.
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1082
diff changeset
  1185
 */
922
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1186
int eccdev_open(struct inode *inode, struct file *filp)
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1187
{
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1188
    ec_cdev_t *cdev = container_of(inode->i_cdev, ec_cdev_t, cdev);
935
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
  1189
    ec_master_t *master = cdev->master;
922
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1190
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1191
    filp->private_data = cdev;
935
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
  1192
    if (master->debug_level)
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
  1193
        EC_DBG("File opened.\n");
922
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1194
    return 0;
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1195
}
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1196
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1197
/*****************************************************************************/
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1198
1092
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1082
diff changeset
  1199
/** Called when the cdev is closed.
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1082
diff changeset
  1200
 */
922
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1201
int eccdev_release(struct inode *inode, struct file *filp)
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1202
{
935
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
  1203
    ec_cdev_t *cdev = (ec_cdev_t *) filp->private_data;
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
  1204
    ec_master_t *master = cdev->master;
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
  1205
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
  1206
    if (master->debug_level)
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
  1207
        EC_DBG("File closed.\n");
922
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1208
    return 0;
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1209
}
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1210
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1211
/*****************************************************************************/
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1212
1092
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1082
diff changeset
  1213
/** Called when an ioctl() command is issued.
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1082
diff changeset
  1214
 */
935
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
  1215
long eccdev_ioctl(struct file *filp, unsigned int cmd, unsigned long arg)
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
  1216
{
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
  1217
    ec_cdev_t *cdev = (ec_cdev_t *) filp->private_data;
922
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1218
    ec_master_t *master = cdev->master;
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1219
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1220
    if (master->debug_level)
981
5a2bd04c555c Output decoded ioctl command number.
Florian Pose <fp@igh-essen.com>
parents: 980
diff changeset
  1221
        EC_DBG("ioctl(filp = %x, cmd = %u (%u), arg = %x)\n",
5a2bd04c555c Output decoded ioctl command number.
Florian Pose <fp@igh-essen.com>
parents: 980
diff changeset
  1222
                (u32) filp, (u32) cmd, (u32) _IOC_NR(cmd), (u32) arg);
935
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
  1223
922
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1224
    switch (cmd) {
957
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented
Florian Pose <fp@igh-essen.com>
parents: 956
diff changeset
  1225
        case EC_IOCTL_MASTER:
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1226
            return ec_cdev_ioctl_master(master, arg);
935
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
  1227
        case EC_IOCTL_SLAVE:
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1228
            return ec_cdev_ioctl_slave(master, arg);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1229
        case EC_IOCTL_SLAVE_SYNC:
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1230
            return ec_cdev_ioctl_slave_sync(master, arg);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1231
        case EC_IOCTL_SLAVE_SYNC_PDO:
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1232
            return ec_cdev_ioctl_slave_sync_pdo(master, arg);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1233
        case EC_IOCTL_SLAVE_SYNC_PDO_ENTRY:
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1234
            return ec_cdev_ioctl_slave_sync_pdo_entry(master, arg);
948
1cfab7161491 Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents: 938
diff changeset
  1235
        case EC_IOCTL_DOMAIN:
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1236
            return ec_cdev_ioctl_domain(master, arg);
950
8b00e63fff90 'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents: 949
diff changeset
  1237
        case EC_IOCTL_DOMAIN_FMMU:
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1238
            return ec_cdev_ioctl_domain_fmmu(master, arg);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1239
        case EC_IOCTL_DOMAIN_DATA:
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1240
            return ec_cdev_ioctl_domain_data(master, arg);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1241
        case EC_IOCTL_MASTER_DEBUG:
972
ad59641a68c8 ioctl() permissions.
Florian Pose <fp@igh-essen.com>
parents: 968
diff changeset
  1242
            if (!(filp->f_mode & FMODE_WRITE))
ad59641a68c8 ioctl() permissions.
Florian Pose <fp@igh-essen.com>
parents: 968
diff changeset
  1243
                return -EPERM;
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1244
            return ec_cdev_ioctl_master_debug(master, arg);
960
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file.
Florian Pose <fp@igh-essen.com>
parents: 957
diff changeset
  1245
        case EC_IOCTL_SLAVE_STATE:
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1246
            if (!(filp->f_mode & FMODE_WRITE))
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1247
                return -EPERM;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1248
            return ec_cdev_ioctl_slave_state(master, arg);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1249
        case EC_IOCTL_SLAVE_SDO:
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1250
            return ec_cdev_ioctl_slave_sdo(master, arg);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1251
        case EC_IOCTL_SLAVE_SDO_ENTRY:
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1252
            return ec_cdev_ioctl_slave_sdo_entry(master, arg);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1253
        case EC_IOCTL_SLAVE_SDO_UPLOAD:
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1254
            return ec_cdev_ioctl_slave_sdo_upload(master, arg);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1255
        case EC_IOCTL_SLAVE_SDO_DOWNLOAD:
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1256
            if (!(filp->f_mode & FMODE_WRITE))
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1257
                return -EPERM;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1258
            return ec_cdev_ioctl_slave_sdo_download(master, arg);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1259
        case EC_IOCTL_SLAVE_SII_READ:
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1260
            return ec_cdev_ioctl_slave_sii_read(master, arg);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1261
        case EC_IOCTL_SLAVE_SII_WRITE:
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1262
            if (!(filp->f_mode & FMODE_WRITE))
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1263
                return -EPERM;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1264
            return ec_cdev_ioctl_slave_sii_write(master, arg);
990
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
  1265
        case EC_IOCTL_CONFIG:
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1266
            return ec_cdev_ioctl_config(master, arg);
990
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
  1267
        case EC_IOCTL_CONFIG_PDO:
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1268
            return ec_cdev_ioctl_config_pdo(master, arg);
990
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
  1269
        case EC_IOCTL_CONFIG_PDO_ENTRY:
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1270
            return ec_cdev_ioctl_config_pdo_entry(master, arg);
990
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
  1271
        case EC_IOCTL_CONFIG_SDO:
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1272
            return ec_cdev_ioctl_config_sdo(master, arg);
922
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1273
        default:
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1274
            return -ENOTTY;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1275
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1276
}
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1277
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1278
/*****************************************************************************/