1

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

     2

 *

     3

 *  $Id$

     4

 *

     5

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

     6

 *

     7

 *  This file is part of the IgH EtherCAT Master.

     8

 *

     9

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

    10

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

    11

 *  published by the Free Software Foundation.

    12

 *

    13

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

    14

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

    15

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

    16

 *  Public License for more details.

    17

 *

    18

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

    19

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

    20

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

    21

 *

    22

 *  ---

    23

 *

    24

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

    25

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

    26

 *  industrial property and similar rights of Beckhoff Automation GmbH.

    27

 *

    28

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

    29

    30

/**

    31

   \file

    32

   EtherCAT master character device.

    33

*/

    34

    35

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

    36

    37

#include <linux/module.h>

    38

#include <linux/vmalloc.h>

    39

#include <linux/mm.h>

    40

    41

#include "cdev.h"

    42

#include "master.h"

    43

#include "slave_config.h"

    44

#include "voe_handler.h"

    45

#include "ethernet.h"

    46

#include "ioctl.h"

    47

    48

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

    49

 */

    50

#define DEBUG_IOCTL 0

    51

    52

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

    53

    54

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

    55

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

    56

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

    57

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

    58

    59

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

    60

 * vm_operations_struct is usable.

    61

 */

    62

#define PAGE_FAULT_VERSION KERNEL_VERSION(2, 6, 23)

    63

    64

#if LINUX_VERSION_CODE >= PAGE_FAULT_VERSION

    65

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

    66

#else

    67

static struct page *eccdev_vma_nopage(

    68

        struct vm_area_struct *, unsigned long, int *);

    69

#endif

    70

    71

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

    72

    73

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

    74

 */

    75

static struct file_operations eccdev_fops = {

    76

    .owner          = THIS_MODULE,

    77

    .open           = eccdev_open,

    78

    .release        = eccdev_release,

    79

    .unlocked_ioctl = eccdev_ioctl,

    80

    .mmap           = eccdev_mmap

    81

};

    82

    83

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

    84

 */

    85

struct vm_operations_struct eccdev_vm_ops = {

    86

#if LINUX_VERSION_CODE >= PAGE_FAULT_VERSION

    87

    .fault = eccdev_vma_fault

    88

#else

    89

    .nopage = eccdev_vma_nopage

    90

#endif

    91

};

    92

    93

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

    94

    95

/** Private data structure for file handles.

    96

 */

    97

typedef struct {

    98

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

    99

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

   100

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

   101

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

   102

} ec_cdev_priv_t;

   103

   104

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

   105

   106

/** Constructor.

   107

 * 

   108

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

   109

 */

   110

int ec_cdev_init(

   111

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

   112

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

   113

        dev_t dev_num /**< Device number. */

   114

        )

   115

{

   116

    int ret;

   117

   118

    cdev->master = master;

   119

   120

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

   121

    cdev->cdev.owner = THIS_MODULE;

   122

   123

    ret = cdev_add(&cdev->cdev,

   124

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

   125

    if (ret) {

   126

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

   127

    }

   128

   129

    return ret;

   130

}

   131

   132

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

   133

   134

/** Destructor.

   135

 */

   136

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

   137

{

   138

    cdev_del(&cdev->cdev);

   139

}

   140

   141

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

   142

   143

/** Copies a string to an ioctl structure.

   144

 */

   145

void ec_cdev_strcpy(

   146

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

   147

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

   148

        )

   149

{

   150

    if (source) {

   151

        strncpy(target, source, EC_IOCTL_STRING_SIZE);

   152

        target[EC_IOCTL_STRING_SIZE - 1] = 0;

   153

    } else {

   154

        target[0] = 0;

   155

    }

   156

}

   157

   158

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

   159

   160

/** Get master information.

   161

 */

   162

int ec_cdev_ioctl_master(

   163

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

   164

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

   165

        )

   166

{

   167

    ec_ioctl_master_t data;

   168

   169

    if (down_interruptible(&master->master_sem))

   170

        return -EINTR;

   171

    data.slave_count = master->slave_count;

   172

    data.config_count = ec_master_config_count(master);

   173

    data.domain_count = ec_master_domain_count(master);

   174

#ifdef EC_EOE

   175

    data.eoe_handler_count = ec_master_eoe_handler_count(master);

   176

#endif

   177

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

   178

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

   179

    data.scan_busy = master->scan_busy;

   180

    up(&master->master_sem);

   181

   182

    if (down_interruptible(&master->device_sem))

   183

        return -EINTR;

   184

   185

    if (master->main_device.dev) {

   186

        memcpy(data.devices[0].address,

   187

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

   188

    } else {

   189

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

   190

    }

   191

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

   192

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

   193

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

   194

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

   195

   196

    if (master->backup_device.dev) {

   197

        memcpy(data.devices[1].address,

   198

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

   199

    } else {

   200

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

   201

    }

   202

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

   203

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

   204

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

   205

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

   206

   207

    up(&master->device_sem);

   208

   209

    data.app_time = master->app_time;

   210

    data.ref_clock =

   211

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

   212

   213

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

   214

        return -EFAULT;

   215

   216

    return 0;

   217

}

   218

   219

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

   220

   221

/** Get slave information.

   222

 */

   223

int ec_cdev_ioctl_slave(

   224

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

   225

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

   226

        )

   227

{

   228

    ec_ioctl_slave_t data;

   229

    const ec_slave_t *slave;

   230

    int i;

   231

   232

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

   233

        return -EFAULT;

   234

    }

   235

   236

    if (down_interruptible(&master->master_sem))

   237

        return -EINTR;

   238

   239

    if (!(slave = ec_master_find_slave_const(

   240

                    master, 0, data.position))) {

   241

        up(&master->master_sem);

   242

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

   243

        return -EINVAL;

   244

    }

   245

   246

    data.vendor_id = slave->sii.vendor_id;

   247

    data.product_code = slave->sii.product_code;

   248

    data.revision_number = slave->sii.revision_number;

   249

    data.serial_number = slave->sii.serial_number;

   250

    data.alias = slave->sii.alias;

   251

    data.boot_rx_mailbox_offset = slave->sii.boot_rx_mailbox_offset;

   252

    data.boot_rx_mailbox_size = slave->sii.boot_rx_mailbox_size;

   253

    data.boot_tx_mailbox_offset = slave->sii.boot_tx_mailbox_offset;

   254

    data.boot_tx_mailbox_size = slave->sii.boot_tx_mailbox_size;

   255

    data.std_rx_mailbox_offset = slave->sii.std_rx_mailbox_offset;

   256

    data.std_rx_mailbox_size = slave->sii.std_rx_mailbox_size;

   257

    data.std_tx_mailbox_offset = slave->sii.std_tx_mailbox_offset;

   258

    data.std_tx_mailbox_size = slave->sii.std_tx_mailbox_size;

   259

    data.mailbox_protocols = slave->sii.mailbox_protocols;

   260

    data.has_general_category = slave->sii.has_general;

   261

    data.coe_details = slave->sii.coe_details;

   262

    data.general_flags = slave->sii.general_flags;

   263

    data.current_on_ebus = slave->sii.current_on_ebus;

   264

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

   265

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

   266

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

   267

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

   268

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

   269

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

   270

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

   271

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

   272

        } else {

   273

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

   274

        }

   275

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

   276

    }

   277

    data.fmmu_bit = slave->base_fmmu_bit_operation;

   278

    data.dc_supported = slave->base_dc_supported;

   279

    data.dc_range = slave->base_dc_range;

   280

    data.has_dc_system_time = slave->has_dc_system_time;

   281

    data.transmission_delay = slave->transmission_delay;

   282

    data.al_state = slave->current_state;

   283

    data.error_flag = slave->error_flag;

   284

   285

    data.sync_count = slave->sii.sync_count;

   286

    data.sdo_count = ec_slave_sdo_count(slave);

   287

    data.sii_nwords = slave->sii_nwords;

   288

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

   289

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

   290

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

   291

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

   292

   293

    up(&master->master_sem);

   294

   295

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

   296

        return -EFAULT;

   297

   298

    return 0;

   299

}

   300

   301

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

   302

   303

/** Get slave sync manager information.

   304

 */

   305

int ec_cdev_ioctl_slave_sync(

   306

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

   307

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

   308

        )

   309

{

   310

    ec_ioctl_slave_sync_t data;

   311

    const ec_slave_t *slave;

   312

    const ec_sync_t *sync;

   313

   314

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

   315

        return -EFAULT;

   316

    }

   317

   318

    if (down_interruptible(&master->master_sem))

   319

        return -EINTR;

   320

   321

    if (!(slave = ec_master_find_slave_const(

   322

                    master, 0, data.slave_position))) {

   323

        up(&master->master_sem);

   324

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

   325

        return -EINVAL;

   326

    }

   327

   328

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

   329

        up(&master->master_sem);

   330

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

   331

                data.sync_index, data.slave_position);

   332

        return -EINVAL;

   333

    }

   334

   335

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

   336

   337

    data.physical_start_address = sync->physical_start_address;

   338

    data.default_size = sync->default_length;

   339

    data.control_register = sync->control_register;

   340

    data.enable = sync->enable;

   341

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

   342

   343

    up(&master->master_sem);

   344

   345

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

   346

        return -EFAULT;

   347

   348

    return 0;

   349

}

   350

   351

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

   352

   353

/** Get slave sync manager PDO information.

   354

 */

   355

int ec_cdev_ioctl_slave_sync_pdo(

   356

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

   357

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

   358

        )

   359

{

   360

    ec_ioctl_slave_sync_pdo_t data;

   361

    const ec_slave_t *slave;

   362

    const ec_sync_t *sync;

   363

    const ec_pdo_t *pdo;

   364

   365

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

   366

        return -EFAULT;

   367

    }

   368

   369

    if (down_interruptible(&master->master_sem))

   370

        return -EINTR;

   371

   372

    if (!(slave = ec_master_find_slave_const(

   373

                    master, 0, data.slave_position))) {

   374

        up(&master->master_sem);

   375

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

   376

        return -EINVAL;

   377

    }

   378

   379

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

   380

        up(&master->master_sem);

   381

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

   382

                data.sync_index, data.slave_position);

   383

        return -EINVAL;

   384

    }

   385

   386

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

   387

    if (!(pdo = ec_pdo_list_find_pdo_by_pos_const(

   388

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

   389

        up(&master->master_sem);

   390

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

   391

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

   392

                data.pdo_pos, data.slave_position);

   393

        return -EINVAL;

   394

    }

   395

   396

    data.index = pdo->index;

   397

    data.entry_count = ec_pdo_entry_count(pdo);

   398

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

   399

   400

    up(&master->master_sem);

   401

   402

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

   403

        return -EFAULT;

   404

   405

    return 0;

   406

}

   407

   408

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

   409

   410

/** Get slave sync manager PDO entry information.

   411

 */

   412

int ec_cdev_ioctl_slave_sync_pdo_entry(

   413

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

   414

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

   415

        )

   416

{

   417

    ec_ioctl_slave_sync_pdo_entry_t data;

   418

    const ec_slave_t *slave;

   419

    const ec_sync_t *sync;

   420

    const ec_pdo_t *pdo;

   421

    const ec_pdo_entry_t *entry;

   422

   423

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

   424

        return -EFAULT;

   425

    }

   426

   427

    if (down_interruptible(&master->master_sem))

   428

        return -EINTR;

   429

   430

    if (!(slave = ec_master_find_slave_const(

   431

                    master, 0, data.slave_position))) {

   432

        up(&master->master_sem);

   433

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

   434

        return -EINVAL;

   435

    }

   436

   437

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

   438

        up(&master->master_sem);

   439

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

   440

                data.sync_index, data.slave_position);

   441

        return -EINVAL;

   442

    }

   443

   444

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

   445

    if (!(pdo = ec_pdo_list_find_pdo_by_pos_const(

   446

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

   447

        up(&master->master_sem);

   448

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

   449

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

   450

                data.pdo_pos, data.slave_position);

   451

        return -EINVAL;

   452

    }

   453

   454

    if (!(entry = ec_pdo_find_entry_by_pos_const(

   455

                    pdo, data.entry_pos))) {

   456

        up(&master->master_sem);

   457

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

   458

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

   459

                data.entry_pos, data.slave_position);

   460

        return -EINVAL;

   461

    }

   462

   463

    data.index = entry->index;

   464

    data.subindex = entry->subindex;

   465

    data.bit_length = entry->bit_length;

   466

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

   467

   468

    up(&master->master_sem);

   469

   470

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

   471

        return -EFAULT;

   472

   473

    return 0;

   474

}

   475

   476

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

   477

   478

/** Get domain information.

   479

 */

   480

int ec_cdev_ioctl_domain(

   481

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

   482

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

   483

        )

   484

{

   485

    ec_ioctl_domain_t data;

   486

    const ec_domain_t *domain;

   487

   488

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

   489

        return -EFAULT;

   490

    }

   491

   492

    if (down_interruptible(&master->master_sem))

   493

        return -EINTR;