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

     2

 *

     3

 *  $Id$

     4

 *

     5

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

     6

 *

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 *  This file is part of the IgH EtherCAT Master.

     8

 *

     9

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

    10

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

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 *  published by the Free Software Foundation.

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 *

    13

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

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

    15

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

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 *  Public License for more details.

    17

 *

    18

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

    19

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

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

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 *

    22

 *  ---

    23

 *

    24

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

    25

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

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 *  industrial property and similar rights of Beckhoff Automation GmbH.

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 *

    28

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

    29

    30

/**

    31

   \file

    32

   EtherCAT master character device.

    33

*/

    34

    35

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

    36

    37

#include <linux/module.h>

    38

#include <linux/vmalloc.h>

    39

#include <linux/mm.h>

    40

    41

#include "cdev.h"

    42

#include "master.h"

    43

#include "slave_config.h"

    44

#include "voe_handler.h"

    45

#include "ioctl.h"

    46

    47

#define DEBUG_IOCTL 0

    48

    49

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

    50

    51

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

    52

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

    53

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

    54

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

    55

    56

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

    57

 * vm_operations_struct is usable.

    58

 */

    59

#define PAGE_FAULT_VERSION KERNEL_VERSION(2, 6, 23)

    60

    61

#if LINUX_VERSION_CODE >= PAGE_FAULT_VERSION

    62

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

    63

#else

    64

static struct page *eccdev_vma_nopage(

    65

        struct vm_area_struct *, unsigned long, int *);

    66

#endif

    67

    68

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

    69

    70

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

    71

 */

    72

static struct file_operations eccdev_fops = {

    73

    .owner          = THIS_MODULE,

    74

    .open           = eccdev_open,

    75

    .release        = eccdev_release,

    76

    .unlocked_ioctl = eccdev_ioctl,

    77

    .mmap           = eccdev_mmap

    78

};

    79

    80

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

    81

 */

    82

struct vm_operations_struct eccdev_vm_ops = {

    83

#if LINUX_VERSION_CODE >= PAGE_FAULT_VERSION

    84

    .fault = eccdev_vma_fault

    85

#else

    86

    .nopage = eccdev_vma_nopage

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#endif

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};

    89

    90

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

    91

    92

/** Private data structure for file handles.

    93

 */

    94

typedef struct {

    95

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

    96

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

    97

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

    98

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

    99

} ec_cdev_priv_t;

   100

   101

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

   102

   103

/** Constructor.

   104

 * 

   105

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

   106

 */

   107

int ec_cdev_init(

   108

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

   109

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

   110

		dev_t dev_num /**< Device number. */

   111

		)

   112

{

   113

    int ret;

   114

   115

    cdev->master = master;

   116

   117

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

   118

    cdev->cdev.owner = THIS_MODULE;

   119

   120

    ret = cdev_add(&cdev->cdev,

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

   122

    if (ret) {

   123

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

   124

    }

   125

   126

    return ret;

   127

}

   128

   129

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

   130

   131

/** Destructor.

   132

 */

   133

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

   134

{

   135

    cdev_del(&cdev->cdev);

   136

}

   137

   138

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

   139

   140

/** Copies a string to an ioctl structure.

   141

 */

   142

void ec_cdev_strcpy(

   143

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

   144

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

   145

        )

   146

{

   147

    if (source) {

   148

        strncpy(target, source, EC_IOCTL_STRING_SIZE);

   149

        target[EC_IOCTL_STRING_SIZE - 1] = 0;

   150

    } else {

   151

        target[0] = 0;

   152

    }

   153

}

   154

   155

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

   156

   157

/** Get master information.

   158

 */

   159

int ec_cdev_ioctl_master(

   160

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

   161

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

   162

        )

   163

{

   164

    ec_ioctl_master_t data;

   165

   166

    if (down_interruptible(&master->master_sem))

   167

        return -EINTR;

   168

    data.slave_count = master->slave_count;

   169

    data.config_count = ec_master_config_count(master);

   170

    data.domain_count = ec_master_domain_count(master);

   171

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

   172

    up(&master->master_sem);

   173

   174

    if (down_interruptible(&master->device_sem))

   175

        return -EINTR;

   176

    if (master->main_device.dev) {

   177

        memcpy(data.devices[0].address,

   178

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

   179

    } else {

   180

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

   181

    }

   182

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

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

   184

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

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

   186

   187

    if (master->backup_device.dev) {

   188

        memcpy(data.devices[1].address,

   189

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

   190

    } else {

   191

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

   192

    }

   193

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

   194

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

   195

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

   196

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

   197

    up(&master->device_sem);

   198

   199

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

   200

        return -EFAULT;

   201

   202

    return 0;

   203

}

   204

   205

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

   206

   207

/** Get slave information.

   208

 */

   209

int ec_cdev_ioctl_slave(

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

   211

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

   212

        )

   213

{

   214

    ec_ioctl_slave_t data;

   215

    const ec_slave_t *slave;

   216

    int i;

   217

   218

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

   219

        return -EFAULT;

   220

    }

   221

   222

    if (down_interruptible(&master->master_sem))

   223

        return -EINTR;

   224

   225

    if (!(slave = ec_master_find_slave_const(

   226

                    master, 0, data.position))) {

   227

        up(&master->master_sem);

   228

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

   229

        return -EINVAL;

   230

    }

   231

   232

    data.vendor_id = slave->sii.vendor_id;

   233

    data.product_code = slave->sii.product_code;

   234

    data.revision_number = slave->sii.revision_number;

   235

    data.serial_number = slave->sii.serial_number;

   236

    data.alias = slave->sii.alias;

   237

    data.boot_rx_mailbox_offset = slave->sii.boot_rx_mailbox_offset;

   238

    data.boot_rx_mailbox_size = slave->sii.boot_rx_mailbox_size;

   239

    data.boot_tx_mailbox_offset = slave->sii.boot_tx_mailbox_offset;

   240

    data.boot_tx_mailbox_size = slave->sii.boot_tx_mailbox_size;

   241

    data.std_rx_mailbox_offset = slave->sii.std_rx_mailbox_offset;

   242

    data.std_rx_mailbox_size = slave->sii.std_rx_mailbox_size;

   243

    data.std_tx_mailbox_offset = slave->sii.std_tx_mailbox_offset;

   244

    data.std_tx_mailbox_size = slave->sii.std_tx_mailbox_size;

   245

    data.mailbox_protocols = slave->sii.mailbox_protocols;

   246

    data.has_general_category = slave->sii.has_general;

   247

    data.coe_details = slave->sii.coe_details;

   248

    data.general_flags = slave->sii.general_flags;

   249

    data.current_on_ebus = slave->sii.current_on_ebus;

   250

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

   251

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

   252

    }

   253

    data.fmmu_bit = slave->base_fmmu_bit_operation;

   254

    data.dc_supported = slave->base_dc_supported;

   255

    data.dc_range = slave->base_dc_range;

   256

    data.al_state = slave->current_state;

   257

    data.error_flag = slave->error_flag;

   258

   259

    data.sync_count = slave->sii.sync_count;

   260

    data.sdo_count = ec_slave_sdo_count(slave);

   261

    data.sii_nwords = slave->sii_nwords;

   262

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

   263

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

   264

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

   265

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

   266

   267

    up(&master->master_sem);

   268

   269

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

   270

        return -EFAULT;

   271

   272

    return 0;

   273

}

   274

   275

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

   276

   277

/** Get slave sync manager information.

   278

 */

   279

int ec_cdev_ioctl_slave_sync(

   280

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

   281

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

   282

        )

   283

{

   284

    ec_ioctl_slave_sync_t data;

   285

    const ec_slave_t *slave;

   286

    const ec_sync_t *sync;

   287

   288

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

   289

        return -EFAULT;

   290

    }

   291

   292

    if (down_interruptible(&master->master_sem))

   293

        return -EINTR;

   294

   295

    if (!(slave = ec_master_find_slave_const(

   296

                    master, 0, data.slave_position))) {

   297

        up(&master->master_sem);

   298

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

   299

        return -EINVAL;

   300

    }

   301

   302

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

   303

        up(&master->master_sem);

   304

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

   305

                data.sync_index, data.slave_position);

   306

        return -EINVAL;

   307

    }

   308

   309

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

   310

   311

    data.physical_start_address = sync->physical_start_address;

   312

    data.default_size = sync->default_length;

   313

    data.control_register = sync->control_register;

   314

    data.enable = sync->enable;

   315

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

   316

   317

    up(&master->master_sem);

   318

   319

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

   320

        return -EFAULT;

   321

   322

    return 0;

   323

}

   324

   325

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

   326

   327

/** Get slave sync manager PDO information.

   328

 */

   329

int ec_cdev_ioctl_slave_sync_pdo(

   330

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

   331

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

   332

        )

   333

{

   334

    ec_ioctl_slave_sync_pdo_t data;

   335

    const ec_slave_t *slave;

   336

    const ec_sync_t *sync;

   337

    const ec_pdo_t *pdo;

   338

   339

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

   340

        return -EFAULT;

   341

    }

   342

   343

    if (down_interruptible(&master->master_sem))

   344

        return -EINTR;

   345

   346

    if (!(slave = ec_master_find_slave_const(

   347

                    master, 0, data.slave_position))) {

   348

        up(&master->master_sem);

   349

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

   350

        return -EINVAL;

   351

    }

   352

   353

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

   354

        up(&master->master_sem);

   355

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

   356

                data.sync_index, data.slave_position);

   357

        return -EINVAL;

   358

    }

   359

   360

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

   361

    if (!(pdo = ec_pdo_list_find_pdo_by_pos_const(

   362

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

   363

        up(&master->master_sem);

   364

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

   365

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

   366

                data.pdo_pos, data.slave_position);

   367

        return -EINVAL;

   368

    }

   369

   370

    data.index = pdo->index;

   371

    data.entry_count = ec_pdo_entry_count(pdo);

   372

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

   373

   374

    up(&master->master_sem);

   375

   376

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

   377

        return -EFAULT;

   378

   379

    return 0;

   380

}

   381

   382

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

   383

   384

/** Get slave sync manager PDO entry information.

   385

 */

   386

int ec_cdev_ioctl_slave_sync_pdo_entry(

   387

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

   388

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

   389

        )

   390

{

   391

    ec_ioctl_slave_sync_pdo_entry_t data;

   392

    const ec_slave_t *slave;

   393

    const ec_sync_t *sync;

   394

    const ec_pdo_t *pdo;

   395

    const ec_pdo_entry_t *entry;

   396

   397

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

   398

        return -EFAULT;

   399

    }

   400

   401

    if (down_interruptible(&master->master_sem))

   402

        return -EINTR;

   403

   404

    if (!(slave = ec_master_find_slave_const(

   405

                    master, 0, data.slave_position))) {

   406

        up(&master->master_sem);

   407

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

   408

        return -EINVAL;

   409

    }

   410

   411

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

   412

        up(&master->master_sem);

   413

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

   414

                data.sync_index, data.slave_position);

   415

        return -EINVAL;

   416

    }

   417

   418

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

   419

    if (!(pdo = ec_pdo_list_find_pdo_by_pos_const(

   420

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

   421

        up(&master->master_sem);

   422

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

   423

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

   424

                data.pdo_pos, data.slave_position);

   425

        return -EINVAL;

   426

    }

   427

   428

    if (!(entry = ec_pdo_find_entry_by_pos_const(

   429

                    pdo, data.entry_pos))) {

   430

        up(&master->master_sem);

   431

        EC_ERR("PDO 0x%04X does not contain an entry with "

   432

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

   433

                data.entry_pos, data.slave_position);

   434

        return -EINVAL;

   435

    }

   436

   437

    data.index = entry->index;

   438

    data.subindex = entry->subindex;

   439

    data.bit_length = entry->bit_length;

   440

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

   441

   442

    up(&master->master_sem);

   443

   444

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

   445

        return -EFAULT;

   446

   447

    return 0;

   448

}

   449

   450

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

   451

   452

/** Get domain information.

   453

 */

   454

int ec_cdev_ioctl_domain(

   455

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

   456

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

   457

        )

   458

{

   459

    ec_ioctl_domain_t data;

   460

    const ec_domain_t *domain;

   461

   462

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

   463

        return -EFAULT;

   464

    }

   465

   466

    if (down_interruptible(&master->master_sem))

   467

        return -EINTR;

   468

   469

    if (!(domain = ec_master_find_domain_const(master, data.index))) {

   470

        up(&master->master_sem);

   471

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

   472

        return -EINVAL;

   473

    }

   474

   475

    data.data_size = domain->data_size;

   476

    data.logical_base_address = domain->logical_base_address;

   477

    data.working_counter = domain->working_counter;

   478

    data.expected_working_counter = domain->expected_working_counter;

   479

    data.fmmu_count = ec_domain_fmmu_count(domain);

   480

   481

    up(&master->master_sem);

   482

   483

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

   484

        return -EFAULT;

   485

   486

    return 0;

   487

}

   488

   489

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

   490

   491

/** Get domain FMMU information.

   492

 */

   493

int ec_cdev_ioctl_domain_fmmu(

   494

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

   495

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