author | Florian Pose <fp@igh-essen.com> |
Wed, 14 Nov 2012 21:59:34 +0100 | |
branch | stable-1.5 |
changeset 2440 | 341d9575745d |
parent 2438 | 9c3e629a220c |
child 2443 | 2c3ccdde3919 |
permissions | -rw-r--r-- |
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/****************************************************************************** |
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* |
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* $Id$ |
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* |
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* Copyright (C) 2006-2012 Florian Pose, Ingenieurgemeinschaft IgH |
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* |
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* This file is part of the IgH EtherCAT Master. |
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* |
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* The IgH EtherCAT Master is free software; you can redistribute it and/or |
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* modify it under the terms of the GNU General Public License version 2, as |
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* published by the Free Software Foundation. |
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* |
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* The IgH EtherCAT Master is distributed in the hope that it will be useful, |
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* but WITHOUT ANY WARRANTY; without even the implied warranty of |
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General |
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* Public License for more details. |
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* |
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* You should have received a copy of the GNU General Public License along |
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* with the IgH EtherCAT Master; if not, write to the Free Software |
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* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA |
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* |
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* --- |
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* |
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* The license mentioned above concerns the source code only. Using the |
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* EtherCAT technology and brand is only permitted in compliance with the |
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* industrial property and similar rights of Beckhoff Automation GmbH. |
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* |
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*****************************************************************************/ |
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|
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/** |
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\file |
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EtherCAT master character device. |
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*/ |
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|
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/*****************************************************************************/ |
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#include <linux/module.h> |
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#include "master.h" |
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#include "slave_config.h" |
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#include "voe_handler.h" |
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#include "ethernet.h" |
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#include "ioctl.h" |
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|
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/** Set to 1 to enable ioctl() latency tracing. |
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* |
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* Requires CPU timestamp counter! |
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*/ |
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#define DEBUG_LATENCY 0 |
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|
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/*****************************************************************************/ |
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/** Copies a string to an ioctl structure. |
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*/ |
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static void ec_ioctl_strcpy( |
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char *target, /**< Target. */ |
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const char *source /**< Source. */ |
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) |
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{ |
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if (source) { |
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strncpy(target, source, EC_IOCTL_STRING_SIZE); |
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target[EC_IOCTL_STRING_SIZE - 1] = 0; |
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} else { |
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target[0] = 0; |
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} |
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} |
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|
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/*****************************************************************************/ |
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/** Get module information. |
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*/ |
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static int ec_ioctl_module( |
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void *arg /**< Userspace address to store the results. */ |
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) |
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{ |
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ec_ioctl_module_t data; |
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data.ioctl_version_magic = EC_IOCTL_VERSION_MAGIC; |
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data.master_count = ec_master_count(); |
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if (copy_to_user((void __user *) arg, &data, sizeof(data))) |
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return -EFAULT; |
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|
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return 0; |
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} |
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|
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/*****************************************************************************/ |
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/** Get master information. |
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*/ |
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static int ec_ioctl_master( |
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ec_master_t *master, /**< EtherCAT master. */ |
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void *arg /**< Userspace address to store the results. */ |
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) |
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{ |
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ec_ioctl_master_t data; |
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unsigned int i, j; |
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if (down_interruptible(&master->master_sem)) |
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return -EINTR; |
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|
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data.slave_count = master->slave_count; |
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data.config_count = ec_master_config_count(master); |
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data.domain_count = ec_master_domain_count(master); |
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#ifdef EC_EOE |
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data.eoe_handler_count = ec_master_eoe_handler_count(master); |
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#endif |
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data.phase = (uint8_t) master->phase; |
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data.active = (uint8_t) master->active; |
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data.scan_busy = master->scan_busy; |
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|
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up(&master->master_sem); |
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|
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if (down_interruptible(&master->device_sem)) |
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return -EINTR; |
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|
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for (i = 0; i < EC_NUM_DEVICES; i++) { |
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ec_device_t *device = &master->devices[i]; |
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|
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if (device->dev) { |
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memcpy(data.devices[i].address, |
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Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
122 |
device->dev->dev_addr, ETH_ALEN); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
123 |
} else { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
124 |
memcpy(data.devices[i].address, master->macs[i], ETH_ALEN); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
125 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
126 |
data.devices[i].attached = device->dev ? 1 : 0; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
127 |
data.devices[i].link_state = device->link_state ? 1 : 0; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
128 |
data.devices[i].tx_count = device->tx_count; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
129 |
data.devices[i].rx_count = device->rx_count; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
130 |
data.devices[i].tx_bytes = device->tx_bytes; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
131 |
data.devices[i].rx_bytes = device->rx_bytes; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
132 |
data.devices[i].tx_errors = device->tx_errors; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
133 |
for (j = 0; j < EC_RATE_COUNT; j++) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
134 |
data.devices[i].tx_frame_rates[j] = |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
135 |
device->tx_frame_rates[j]; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
136 |
data.devices[i].rx_frame_rates[j] = |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
137 |
device->rx_frame_rates[j]; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
138 |
data.devices[i].tx_byte_rates[j] = |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
139 |
device->tx_byte_rates[j]; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
140 |
data.devices[i].rx_byte_rates[j] = |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
141 |
device->rx_byte_rates[j]; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
142 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
143 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
144 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
145 |
data.tx_count = master->device_stats.tx_count; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
146 |
data.rx_count = master->device_stats.rx_count; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
147 |
data.tx_bytes = master->device_stats.tx_bytes; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
148 |
data.rx_bytes = master->device_stats.rx_bytes; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
149 |
for (i = 0; i < EC_RATE_COUNT; i++) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
150 |
data.tx_frame_rates[i] = |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
151 |
master->device_stats.tx_frame_rates[i]; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
152 |
data.rx_frame_rates[i] = |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
153 |
master->device_stats.rx_frame_rates[i]; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
154 |
data.tx_byte_rates[i] = |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
155 |
master->device_stats.tx_byte_rates[i]; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
156 |
data.rx_byte_rates[i] = |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
157 |
master->device_stats.rx_byte_rates[i]; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
158 |
data.loss_rates[i] = |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
159 |
master->device_stats.loss_rates[i]; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
160 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
161 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
162 |
up(&master->device_sem); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
163 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
164 |
data.app_time = master->app_time; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
165 |
data.ref_clock = |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
166 |
master->dc_ref_clock ? master->dc_ref_clock->ring_position : 0xffff; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
167 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
168 |
if (copy_to_user((void __user *) arg, &data, sizeof(data))) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
169 |
return -EFAULT; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
170 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
171 |
return 0; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
172 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
173 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
174 |
/*****************************************************************************/ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
175 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
176 |
/** Get slave information. |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
177 |
*/ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
178 |
static int ec_ioctl_slave( |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
179 |
ec_master_t *master, /**< EtherCAT master. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
180 |
void *arg /**< Userspace address to store the results. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
181 |
) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
182 |
{ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
183 |
ec_ioctl_slave_t data; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
184 |
const ec_slave_t *slave; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
185 |
int i; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
186 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
187 |
if (copy_from_user(&data, (void __user *) arg, sizeof(data))) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
188 |
return -EFAULT; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
189 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
190 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
191 |
if (down_interruptible(&master->master_sem)) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
192 |
return -EINTR; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
193 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
194 |
if (!(slave = ec_master_find_slave_const( |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
195 |
master, 0, data.position))) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
196 |
up(&master->master_sem); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
197 |
EC_MASTER_ERR(master, "Slave %u does not exist!\n", data.position); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
198 |
return -EINVAL; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
199 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
200 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
201 |
data.device_index = slave->device_index; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
202 |
data.vendor_id = slave->sii.vendor_id; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
203 |
data.product_code = slave->sii.product_code; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
204 |
data.revision_number = slave->sii.revision_number; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
205 |
data.serial_number = slave->sii.serial_number; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
206 |
data.alias = slave->effective_alias; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
207 |
data.boot_rx_mailbox_offset = slave->sii.boot_rx_mailbox_offset; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
208 |
data.boot_rx_mailbox_size = slave->sii.boot_rx_mailbox_size; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
209 |
data.boot_tx_mailbox_offset = slave->sii.boot_tx_mailbox_offset; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
210 |
data.boot_tx_mailbox_size = slave->sii.boot_tx_mailbox_size; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
211 |
data.std_rx_mailbox_offset = slave->sii.std_rx_mailbox_offset; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
212 |
data.std_rx_mailbox_size = slave->sii.std_rx_mailbox_size; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
213 |
data.std_tx_mailbox_offset = slave->sii.std_tx_mailbox_offset; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
214 |
data.std_tx_mailbox_size = slave->sii.std_tx_mailbox_size; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
215 |
data.mailbox_protocols = slave->sii.mailbox_protocols; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
216 |
data.has_general_category = slave->sii.has_general; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
217 |
data.coe_details = slave->sii.coe_details; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
218 |
data.general_flags = slave->sii.general_flags; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
219 |
data.current_on_ebus = slave->sii.current_on_ebus; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
220 |
for (i = 0; i < EC_MAX_PORTS; i++) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
221 |
data.ports[i].desc = slave->ports[i].desc; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
222 |
data.ports[i].link.link_up = slave->ports[i].link.link_up; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
223 |
data.ports[i].link.loop_closed = slave->ports[i].link.loop_closed; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
224 |
data.ports[i].link.signal_detected = |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
225 |
slave->ports[i].link.signal_detected; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
226 |
data.ports[i].receive_time = slave->ports[i].receive_time; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
227 |
if (slave->ports[i].next_slave) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
228 |
data.ports[i].next_slave = |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
229 |
slave->ports[i].next_slave->ring_position; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
230 |
} else { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
231 |
data.ports[i].next_slave = 0xffff; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
232 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
233 |
data.ports[i].delay_to_next_dc = slave->ports[i].delay_to_next_dc; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
234 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
235 |
data.fmmu_bit = slave->base_fmmu_bit_operation; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
236 |
data.dc_supported = slave->base_dc_supported; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
237 |
data.dc_range = slave->base_dc_range; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
238 |
data.has_dc_system_time = slave->has_dc_system_time; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
239 |
data.transmission_delay = slave->transmission_delay; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
240 |
data.al_state = slave->current_state; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
241 |
data.error_flag = slave->error_flag; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
242 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
243 |
data.sync_count = slave->sii.sync_count; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
244 |
data.sdo_count = ec_slave_sdo_count(slave); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
245 |
data.sii_nwords = slave->sii_nwords; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
246 |
ec_ioctl_strcpy(data.group, slave->sii.group); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
247 |
ec_ioctl_strcpy(data.image, slave->sii.image); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
248 |
ec_ioctl_strcpy(data.order, slave->sii.order); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
249 |
ec_ioctl_strcpy(data.name, slave->sii.name); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
250 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
251 |
up(&master->master_sem); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
252 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
253 |
if (copy_to_user((void __user *) arg, &data, sizeof(data))) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
254 |
return -EFAULT; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
255 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
256 |
return 0; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
257 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
258 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
259 |
/*****************************************************************************/ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
260 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
261 |
/** Get slave sync manager information. |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
262 |
*/ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
263 |
static int ec_ioctl_slave_sync( |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
264 |
ec_master_t *master, /**< EtherCAT master. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
265 |
void *arg /**< Userspace address to store the results. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
266 |
) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
267 |
{ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
268 |
ec_ioctl_slave_sync_t data; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
269 |
const ec_slave_t *slave; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
270 |
const ec_sync_t *sync; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
271 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
272 |
if (copy_from_user(&data, (void __user *) arg, sizeof(data))) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
273 |
return -EFAULT; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
274 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
275 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
276 |
if (down_interruptible(&master->master_sem)) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
277 |
return -EINTR; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
278 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
279 |
if (!(slave = ec_master_find_slave_const( |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
280 |
master, 0, data.slave_position))) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
281 |
up(&master->master_sem); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
282 |
EC_MASTER_ERR(master, "Slave %u does not exist!\n", |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
283 |
data.slave_position); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
284 |
return -EINVAL; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
285 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
286 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
287 |
if (data.sync_index >= slave->sii.sync_count) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
288 |
up(&master->master_sem); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
289 |
EC_SLAVE_ERR(slave, "Sync manager %u does not exist!\n", |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
290 |
data.sync_index); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
291 |
return -EINVAL; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
292 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
293 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
294 |
sync = &slave->sii.syncs[data.sync_index]; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
295 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
296 |
data.physical_start_address = sync->physical_start_address; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
297 |
data.default_size = sync->default_length; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
298 |
data.control_register = sync->control_register; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
299 |
data.enable = sync->enable; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
300 |
data.pdo_count = ec_pdo_list_count(&sync->pdos); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
301 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
302 |
up(&master->master_sem); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
303 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
304 |
if (copy_to_user((void __user *) arg, &data, sizeof(data))) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
305 |
return -EFAULT; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
306 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
307 |
return 0; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
308 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
309 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
310 |
/*****************************************************************************/ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
311 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
312 |
/** Get slave sync manager PDO information. |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
313 |
*/ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
314 |
static int ec_ioctl_slave_sync_pdo( |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
315 |
ec_master_t *master, /**< EtherCAT master. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
316 |
void *arg /**< Userspace address to store the results. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
317 |
) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
318 |
{ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
319 |
ec_ioctl_slave_sync_pdo_t data; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
320 |
const ec_slave_t *slave; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
321 |
const ec_sync_t *sync; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
322 |
const ec_pdo_t *pdo; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
323 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
324 |
if (copy_from_user(&data, (void __user *) arg, sizeof(data))) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
325 |
return -EFAULT; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
326 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
327 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
328 |
if (down_interruptible(&master->master_sem)) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
329 |
return -EINTR; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
330 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
331 |
if (!(slave = ec_master_find_slave_const( |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
332 |
master, 0, data.slave_position))) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
333 |
up(&master->master_sem); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
334 |
EC_MASTER_ERR(master, "Slave %u does not exist!\n", |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
335 |
data.slave_position); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
336 |
return -EINVAL; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
337 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
338 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
339 |
if (data.sync_index >= slave->sii.sync_count) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
340 |
up(&master->master_sem); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
341 |
EC_SLAVE_ERR(slave, "Sync manager %u does not exist!\n", |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
342 |
data.sync_index); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
343 |
return -EINVAL; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
344 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
345 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
346 |
sync = &slave->sii.syncs[data.sync_index]; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
347 |
if (!(pdo = ec_pdo_list_find_pdo_by_pos_const( |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
348 |
&sync->pdos, data.pdo_pos))) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
349 |
up(&master->master_sem); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
350 |
EC_SLAVE_ERR(slave, "Sync manager %u does not contain a PDO with " |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
351 |
"position %u!\n", data.sync_index, data.pdo_pos); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
352 |
return -EINVAL; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
353 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
354 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
355 |
data.index = pdo->index; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
356 |
data.entry_count = ec_pdo_entry_count(pdo); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
357 |
ec_ioctl_strcpy(data.name, pdo->name); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
358 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
359 |
up(&master->master_sem); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
360 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
361 |
if (copy_to_user((void __user *) arg, &data, sizeof(data))) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
362 |
return -EFAULT; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
363 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
364 |
return 0; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
365 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
366 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
367 |
/*****************************************************************************/ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
368 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
369 |
/** Get slave sync manager PDO entry information. |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
370 |
*/ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
371 |
static int ec_ioctl_slave_sync_pdo_entry( |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
372 |
ec_master_t *master, /**< EtherCAT master. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
373 |
void *arg /**< Userspace address to store the results. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
374 |
) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
375 |
{ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
376 |
ec_ioctl_slave_sync_pdo_entry_t data; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
377 |
const ec_slave_t *slave; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
378 |
const ec_sync_t *sync; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
379 |
const ec_pdo_t *pdo; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
380 |
const ec_pdo_entry_t *entry; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
381 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
382 |
if (copy_from_user(&data, (void __user *) arg, sizeof(data))) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
383 |
return -EFAULT; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
384 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
385 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
386 |
if (down_interruptible(&master->master_sem)) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
387 |
return -EINTR; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
388 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
389 |
if (!(slave = ec_master_find_slave_const( |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
390 |
master, 0, data.slave_position))) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
391 |
up(&master->master_sem); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
392 |
EC_MASTER_ERR(master, "Slave %u does not exist!\n", |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
393 |
data.slave_position); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
394 |
return -EINVAL; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
395 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
396 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
397 |
if (data.sync_index >= slave->sii.sync_count) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
398 |
up(&master->master_sem); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
399 |
EC_SLAVE_ERR(slave, "Sync manager %u does not exist!\n", |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
400 |
data.sync_index); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
401 |
return -EINVAL; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
402 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
403 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
404 |
sync = &slave->sii.syncs[data.sync_index]; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
405 |
if (!(pdo = ec_pdo_list_find_pdo_by_pos_const( |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
406 |
&sync->pdos, data.pdo_pos))) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
407 |
up(&master->master_sem); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
408 |
EC_SLAVE_ERR(slave, "Sync manager %u does not contain a PDO with " |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
409 |
"position %u!\n", data.sync_index, data.pdo_pos); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
410 |
return -EINVAL; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
411 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
412 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
413 |
if (!(entry = ec_pdo_find_entry_by_pos_const( |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
414 |
pdo, data.entry_pos))) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
415 |
up(&master->master_sem); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
416 |
EC_SLAVE_ERR(slave, "PDO 0x%04X does not contain an entry with " |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
417 |
"position %u!\n", data.pdo_pos, data.entry_pos); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
418 |
return -EINVAL; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
419 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
420 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
421 |
data.index = entry->index; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
422 |
data.subindex = entry->subindex; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
423 |
data.bit_length = entry->bit_length; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
424 |
ec_ioctl_strcpy(data.name, entry->name); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
425 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
426 |
up(&master->master_sem); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
427 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
428 |
if (copy_to_user((void __user *) arg, &data, sizeof(data))) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
429 |
return -EFAULT; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
430 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
431 |
return 0; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
432 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
433 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
434 |
/*****************************************************************************/ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
435 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
436 |
/** Get domain information. |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
437 |
*/ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
438 |
static int ec_ioctl_domain( |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
439 |
ec_master_t *master, /**< EtherCAT master. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
440 |
void *arg /**< Userspace address to store the results. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
441 |
) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
442 |
{ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
443 |
ec_ioctl_domain_t data; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
444 |
const ec_domain_t *domain; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
445 |
unsigned int dev_idx; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
446 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
447 |
if (copy_from_user(&data, (void __user *) arg, sizeof(data))) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
448 |
return -EFAULT; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
449 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
450 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
451 |
if (down_interruptible(&master->master_sem)) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
452 |
return -EINTR; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
453 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
454 |
if (!(domain = ec_master_find_domain_const(master, data.index))) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
455 |
up(&master->master_sem); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
456 |
EC_MASTER_ERR(master, "Domain %u does not exist!\n", data.index); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
457 |
return -EINVAL; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
458 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
459 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
460 |
data.data_size = domain->data_size; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
461 |
data.logical_base_address = domain->logical_base_address; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
462 |
for (dev_idx = 0; dev_idx < EC_NUM_DEVICES; dev_idx++) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
463 |
data.working_counter[dev_idx] = domain->working_counter[dev_idx]; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
464 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
465 |
data.expected_working_counter = domain->expected_working_counter; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
466 |
data.fmmu_count = ec_domain_fmmu_count(domain); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
467 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
468 |
up(&master->master_sem); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
469 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
470 |
if (copy_to_user((void __user *) arg, &data, sizeof(data))) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
471 |
return -EFAULT; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
472 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
473 |
return 0; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
474 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
475 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
476 |
/*****************************************************************************/ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
477 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
478 |
/** Get domain FMMU information. |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
479 |
*/ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
480 |
static int ec_ioctl_domain_fmmu( |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
481 |
ec_master_t *master, /**< EtherCAT master. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
482 |
void *arg /**< Userspace address to store the results. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
483 |
) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
484 |
{ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
485 |
ec_ioctl_domain_fmmu_t data; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
486 |
const ec_domain_t *domain; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
487 |
const ec_fmmu_config_t *fmmu; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
488 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
489 |
if (copy_from_user(&data, (void __user *) arg, sizeof(data))) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
490 |
return -EFAULT; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
491 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
492 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
493 |
if (down_interruptible(&master->master_sem)) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
494 |
return -EINTR; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
495 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
496 |
if (!(domain = ec_master_find_domain_const(master, data.domain_index))) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
497 |
up(&master->master_sem); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
498 |
EC_MASTER_ERR(master, "Domain %u does not exist!\n", |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
499 |
data.domain_index); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
500 |
return -EINVAL; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
501 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
502 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
503 |
if (!(fmmu = ec_domain_find_fmmu(domain, data.fmmu_index))) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
504 |
up(&master->master_sem); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
505 |
EC_MASTER_ERR(master, "Domain %u has less than %u" |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
506 |
" fmmu configurations.\n", |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
507 |
data.domain_index, data.fmmu_index + 1); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
508 |
return -EINVAL; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
509 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
510 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
511 |
data.slave_config_alias = fmmu->sc->alias; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
512 |
data.slave_config_position = fmmu->sc->position; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
513 |
data.sync_index = fmmu->sync_index; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
514 |
data.dir = fmmu->dir; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
515 |
data.logical_address = fmmu->logical_start_address; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
516 |
data.data_size = fmmu->data_size; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
517 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
518 |
up(&master->master_sem); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
519 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
520 |
if (copy_to_user((void __user *) arg, &data, sizeof(data))) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
521 |
return -EFAULT; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
522 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
523 |
return 0; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
524 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
525 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
526 |
/*****************************************************************************/ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
527 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
528 |
/** Get domain data. |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
529 |
*/ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
530 |
static int ec_ioctl_domain_data( |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
531 |
ec_master_t *master, /**< EtherCAT master. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
532 |
void *arg /**< Userspace address to store the results. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
533 |
) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
534 |
{ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
535 |
ec_ioctl_domain_data_t data; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
536 |
const ec_domain_t *domain; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
537 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
538 |
if (copy_from_user(&data, (void __user *) arg, sizeof(data))) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
539 |
return -EFAULT; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
540 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
541 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
542 |
if (down_interruptible(&master->master_sem)) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
543 |
return -EINTR; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
544 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
545 |
if (!(domain = ec_master_find_domain_const(master, data.domain_index))) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
546 |
up(&master->master_sem); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
547 |
EC_MASTER_ERR(master, "Domain %u does not exist!\n", |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
548 |
data.domain_index); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
549 |
return -EINVAL; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
550 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
551 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
552 |
if (domain->data_size != data.data_size) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
553 |
up(&master->master_sem); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
554 |
EC_MASTER_ERR(master, "Data size mismatch %u/%zu!\n", |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
555 |
data.data_size, domain->data_size); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
556 |
return -EFAULT; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
557 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
558 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
559 |
if (copy_to_user((void __user *) data.target, domain->data, |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
560 |
domain->data_size)) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
561 |
up(&master->master_sem); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
562 |
return -EFAULT; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
563 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
564 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
565 |
up(&master->master_sem); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
566 |
return 0; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
567 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
568 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
569 |
/*****************************************************************************/ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
570 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
571 |
/** Set master debug level. |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
572 |
*/ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
573 |
static int ec_ioctl_master_debug( |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
574 |
ec_master_t *master, /**< EtherCAT master. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
575 |
void *arg /**< ioctl() argument. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
576 |
) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
577 |
{ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
578 |
return ec_master_debug_level(master, (unsigned int) arg); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
579 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
580 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
581 |
/*****************************************************************************/ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
582 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
583 |
/** Issue a bus scan. |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
584 |
*/ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
585 |
static int ec_ioctl_master_rescan( |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
586 |
ec_master_t *master, /**< EtherCAT master. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
587 |
void *arg /**< ioctl() argument. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
588 |
) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
589 |
{ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
590 |
master->fsm.rescan_required = 1; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
591 |
return 0; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
592 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
593 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
594 |
/*****************************************************************************/ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
595 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
596 |
/** Set slave state. |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
597 |
*/ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
598 |
static int ec_ioctl_slave_state( |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
599 |
ec_master_t *master, /**< EtherCAT master. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
600 |
void *arg /**< ioctl() argument. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
601 |
) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
602 |
{ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
603 |
ec_ioctl_slave_state_t data; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
604 |
ec_slave_t *slave; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
605 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
606 |
if (copy_from_user(&data, (void __user *) arg, sizeof(data))) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
607 |
return -EFAULT; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
608 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
609 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
610 |
if (down_interruptible(&master->master_sem)) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
611 |
return -EINTR; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
612 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
613 |
if (!(slave = ec_master_find_slave( |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
614 |
master, 0, data.slave_position))) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
615 |
up(&master->master_sem); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
616 |
EC_MASTER_ERR(master, "Slave %u does not exist!\n", |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
617 |
data.slave_position); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
618 |
return -EINVAL; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
619 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
620 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
621 |
ec_slave_request_state(slave, data.al_state); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
622 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
623 |
up(&master->master_sem); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
624 |
return 0; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
625 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
626 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
627 |
/*****************************************************************************/ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
628 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
629 |
/** Get slave SDO information. |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
630 |
*/ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
631 |
static int ec_ioctl_slave_sdo( |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
632 |
ec_master_t *master, /**< EtherCAT master. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
633 |
void *arg /**< ioctl() argument. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
634 |
) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
635 |
{ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
636 |
ec_ioctl_slave_sdo_t data; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
637 |
const ec_slave_t *slave; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
638 |
const ec_sdo_t *sdo; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
639 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
640 |
if (copy_from_user(&data, (void __user *) arg, sizeof(data))) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
641 |
return -EFAULT; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
642 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
643 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
644 |
if (down_interruptible(&master->master_sem)) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
645 |
return -EINTR; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
646 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
647 |
if (!(slave = ec_master_find_slave_const( |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
648 |
master, 0, data.slave_position))) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
649 |
up(&master->master_sem); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
650 |
EC_MASTER_ERR(master, "Slave %u does not exist!\n", |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
651 |
data.slave_position); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
652 |
return -EINVAL; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
653 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
654 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
655 |
if (!(sdo = ec_slave_get_sdo_by_pos_const( |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
656 |
slave, data.sdo_position))) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
657 |
up(&master->master_sem); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
658 |
EC_SLAVE_ERR(slave, "SDO %u does not exist!\n", data.sdo_position); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
659 |
return -EINVAL; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
660 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
661 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
662 |
data.sdo_index = sdo->index; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
663 |
data.max_subindex = sdo->max_subindex; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
664 |
ec_ioctl_strcpy(data.name, sdo->name); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
665 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
666 |
up(&master->master_sem); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
667 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
668 |
if (copy_to_user((void __user *) arg, &data, sizeof(data))) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
669 |
return -EFAULT; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
670 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
671 |
return 0; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
672 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
673 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
674 |
/*****************************************************************************/ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
675 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
676 |
/** Get slave SDO entry information. |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
677 |
*/ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
678 |
static int ec_ioctl_slave_sdo_entry( |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
679 |
ec_master_t *master, /**< EtherCAT master. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
680 |
void *arg /**< ioctl() argument. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
681 |
) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
682 |
{ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
683 |
ec_ioctl_slave_sdo_entry_t data; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
684 |
const ec_slave_t *slave; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
685 |
const ec_sdo_t *sdo; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
686 |
const ec_sdo_entry_t *entry; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
687 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
688 |
if (copy_from_user(&data, (void __user *) arg, sizeof(data))) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
689 |
return -EFAULT; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
690 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
691 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
692 |
if (down_interruptible(&master->master_sem)) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
693 |
return -EINTR; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
694 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
695 |
if (!(slave = ec_master_find_slave_const( |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
696 |
master, 0, data.slave_position))) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
697 |
up(&master->master_sem); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
698 |
EC_MASTER_ERR(master, "Slave %u does not exist!\n", |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
699 |
data.slave_position); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
700 |
return -EINVAL; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
701 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
702 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
703 |
if (data.sdo_spec <= 0) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
704 |
if (!(sdo = ec_slave_get_sdo_by_pos_const( |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
705 |
slave, -data.sdo_spec))) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
706 |
up(&master->master_sem); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
707 |
EC_SLAVE_ERR(slave, "SDO %u does not exist!\n", -data.sdo_spec); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
708 |
return -EINVAL; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
709 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
710 |
} else { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
711 |
if (!(sdo = ec_slave_get_sdo_const( |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
712 |
slave, data.sdo_spec))) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
713 |
up(&master->master_sem); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
714 |
EC_SLAVE_ERR(slave, "SDO 0x%04X does not exist!\n", |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
715 |
data.sdo_spec); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
716 |
return -EINVAL; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
717 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
718 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
719 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
720 |
if (!(entry = ec_sdo_get_entry_const( |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
721 |
sdo, data.sdo_entry_subindex))) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
722 |
up(&master->master_sem); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
723 |
EC_SLAVE_ERR(slave, "SDO entry 0x%04X:%02X does not exist!\n", |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
724 |
sdo->index, data.sdo_entry_subindex); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
725 |
return -EINVAL; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
726 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
727 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
728 |
data.data_type = entry->data_type; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
729 |
data.bit_length = entry->bit_length; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
730 |
data.read_access[EC_SDO_ENTRY_ACCESS_PREOP] = |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
731 |
entry->read_access[EC_SDO_ENTRY_ACCESS_PREOP]; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
732 |
data.read_access[EC_SDO_ENTRY_ACCESS_SAFEOP] = |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
733 |
entry->read_access[EC_SDO_ENTRY_ACCESS_SAFEOP]; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
734 |
data.read_access[EC_SDO_ENTRY_ACCESS_OP] = |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
735 |
entry->read_access[EC_SDO_ENTRY_ACCESS_OP]; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
736 |
data.write_access[EC_SDO_ENTRY_ACCESS_PREOP] = |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
737 |
entry->write_access[EC_SDO_ENTRY_ACCESS_PREOP]; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
738 |
data.write_access[EC_SDO_ENTRY_ACCESS_SAFEOP] = |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
739 |
entry->write_access[EC_SDO_ENTRY_ACCESS_SAFEOP]; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
740 |
data.write_access[EC_SDO_ENTRY_ACCESS_OP] = |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
741 |
entry->write_access[EC_SDO_ENTRY_ACCESS_OP]; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
742 |
ec_ioctl_strcpy(data.description, entry->description); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
743 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
744 |
up(&master->master_sem); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
745 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
746 |
if (copy_to_user((void __user *) arg, &data, sizeof(data))) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
747 |
return -EFAULT; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
748 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
749 |
return 0; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
750 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
751 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
752 |
/*****************************************************************************/ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
753 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
754 |
/** Upload SDO. |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
755 |
*/ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
756 |
static int ec_ioctl_slave_sdo_upload( |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
757 |
ec_master_t *master, /**< EtherCAT master. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
758 |
void *arg /**< ioctl() argument. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
759 |
) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
760 |
{ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
761 |
ec_ioctl_slave_sdo_upload_t data; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
762 |
uint8_t *target; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
763 |
int ret; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
764 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
765 |
if (copy_from_user(&data, (void __user *) arg, sizeof(data))) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
766 |
return -EFAULT; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
767 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
768 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
769 |
if (!(target = kmalloc(data.target_size, GFP_KERNEL))) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
770 |
EC_MASTER_ERR(master, "Failed to allocate %u bytes" |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
771 |
" for SDO upload.\n", data.target_size); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
772 |
return -ENOMEM; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
773 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
774 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
775 |
ret = ecrt_master_sdo_upload(master, data.slave_position, |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
776 |
data.sdo_index, data.sdo_entry_subindex, target, |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
777 |
data.target_size, &data.data_size, &data.abort_code); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
778 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
779 |
if (!ret) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
780 |
if (copy_to_user((void __user *) data.target, |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
781 |
target, data.data_size)) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
782 |
kfree(target); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
783 |
return -EFAULT; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
784 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
785 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
786 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
787 |
kfree(target); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
788 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
789 |
if (__copy_to_user((void __user *) arg, &data, sizeof(data))) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
790 |
return -EFAULT; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
791 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
792 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
793 |
return 0; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
794 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
795 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
796 |
/*****************************************************************************/ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
797 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
798 |
/** Download SDO. |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
799 |
*/ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
800 |
static int ec_ioctl_slave_sdo_download( |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
801 |
ec_master_t *master, /**< EtherCAT master. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
802 |
void *arg /**< ioctl() argument. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
803 |
) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
804 |
{ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
805 |
ec_ioctl_slave_sdo_download_t data; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
806 |
uint8_t *sdo_data; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
807 |
int retval; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
808 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
809 |
if (copy_from_user(&data, (void __user *) arg, sizeof(data))) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
810 |
return -EFAULT; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
811 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
812 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
813 |
if (!(sdo_data = kmalloc(data.data_size, GFP_KERNEL))) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
814 |
EC_MASTER_ERR(master, "Failed to allocate %u bytes" |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
815 |
" for SDO download.\n", data.data_size); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
816 |
return -ENOMEM; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
817 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
818 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
819 |
if (copy_from_user(sdo_data, (void __user *) data.data, data.data_size)) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
820 |
kfree(sdo_data); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
821 |
return -EFAULT; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
822 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
823 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
824 |
if (data.complete_access) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
825 |
retval = ecrt_master_sdo_download_complete(master, data.slave_position, |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
826 |
data.sdo_index, sdo_data, data.data_size, &data.abort_code); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
827 |
} else { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
828 |
retval = ecrt_master_sdo_download(master, data.slave_position, |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
829 |
data.sdo_index, data.sdo_entry_subindex, sdo_data, |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
830 |
data.data_size, &data.abort_code); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
831 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
832 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
833 |
kfree(sdo_data); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
834 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
835 |
if (__copy_to_user((void __user *) arg, &data, sizeof(data))) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
836 |
retval = -EFAULT; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
837 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
838 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
839 |
return retval; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
840 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
841 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
842 |
/*****************************************************************************/ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
843 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
844 |
/** Read a slave's SII. |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
845 |
*/ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
846 |
static int ec_ioctl_slave_sii_read( |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
847 |
ec_master_t *master, /**< EtherCAT master. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
848 |
void *arg /**< ioctl() argument. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
849 |
) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
850 |
{ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
851 |
ec_ioctl_slave_sii_t data; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
852 |
const ec_slave_t *slave; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
853 |
int retval; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
854 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
855 |
if (copy_from_user(&data, (void __user *) arg, sizeof(data))) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
856 |
return -EFAULT; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
857 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
858 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
859 |
if (down_interruptible(&master->master_sem)) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
860 |
return -EINTR; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
861 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
862 |
if (!(slave = ec_master_find_slave_const( |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
863 |
master, 0, data.slave_position))) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
864 |
up(&master->master_sem); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
865 |
EC_MASTER_ERR(master, "Slave %u does not exist!\n", |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
866 |
data.slave_position); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
867 |
return -EINVAL; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
868 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
869 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
870 |
if (!data.nwords |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
871 |
|| data.offset + data.nwords > slave->sii_nwords) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
872 |
up(&master->master_sem); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
873 |
EC_SLAVE_ERR(slave, "Invalid SII read offset/size %u/%u for slave SII" |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
874 |
" size %zu!\n", data.offset, data.nwords, slave->sii_nwords); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
875 |
return -EINVAL; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
876 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
877 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
878 |
if (copy_to_user((void __user *) data.words, |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
879 |
slave->sii_words + data.offset, data.nwords * 2)) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
880 |
retval = -EFAULT; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
881 |
else |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
882 |
retval = 0; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
883 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
884 |
up(&master->master_sem); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
885 |
return retval; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
886 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
887 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
888 |
/*****************************************************************************/ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
889 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
890 |
/** Write a slave's SII. |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
891 |
*/ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
892 |
static int ec_ioctl_slave_sii_write( |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
893 |
ec_master_t *master, /**< EtherCAT master. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
894 |
void *arg /**< ioctl() argument. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
895 |
) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
896 |
{ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
897 |
ec_ioctl_slave_sii_t data; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
898 |
ec_slave_t *slave; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
899 |
unsigned int byte_size; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
900 |
uint16_t *words; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
901 |
ec_sii_write_request_t request; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
902 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
903 |
if (copy_from_user(&data, (void __user *) arg, sizeof(data))) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
904 |
return -EFAULT; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
905 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
906 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
907 |
if (!data.nwords) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
908 |
return 0; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
909 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
910 |
byte_size = sizeof(uint16_t) * data.nwords; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
911 |
if (!(words = kmalloc(byte_size, GFP_KERNEL))) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
912 |
EC_MASTER_ERR(master, "Failed to allocate %u bytes" |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
913 |
" for SII contents.\n", byte_size); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
914 |
return -ENOMEM; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
915 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
916 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
917 |
if (copy_from_user(words, |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
918 |
(void __user *) data.words, byte_size)) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
919 |
kfree(words); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
920 |
return -EFAULT; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
921 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
922 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
923 |
if (down_interruptible(&master->master_sem)) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
924 |
return -EINTR; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
925 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
926 |
if (!(slave = ec_master_find_slave( |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
927 |
master, 0, data.slave_position))) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
928 |
up(&master->master_sem); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
929 |
EC_MASTER_ERR(master, "Slave %u does not exist!\n", |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
930 |
data.slave_position); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
931 |
kfree(words); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
932 |
return -EINVAL; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
933 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
934 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
935 |
// init SII write request |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
936 |
INIT_LIST_HEAD(&request.list); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
937 |
request.slave = slave; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
938 |
request.words = words; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
939 |
request.offset = data.offset; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
940 |
request.nwords = data.nwords; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
941 |
request.state = EC_INT_REQUEST_QUEUED; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
942 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
943 |
// schedule SII write request. |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
944 |
list_add_tail(&request.list, &master->sii_requests); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
945 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
946 |
up(&master->master_sem); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
947 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
948 |
// wait for processing through FSM |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
949 |
if (wait_event_interruptible(master->sii_queue, |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
950 |
request.state != EC_INT_REQUEST_QUEUED)) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
951 |
// interrupted by signal |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
952 |
down(&master->master_sem); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
953 |
if (request.state == EC_INT_REQUEST_QUEUED) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
954 |
// abort request |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
955 |
list_del(&request.list); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
956 |
up(&master->master_sem); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
957 |
kfree(words); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
958 |
return -EINTR; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
959 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
960 |
up(&master->master_sem); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
961 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
962 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
963 |
// wait until master FSM has finished processing |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
964 |
wait_event(master->sii_queue, request.state != EC_INT_REQUEST_BUSY); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
965 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
966 |
kfree(words); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
967 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
968 |
return request.state == EC_INT_REQUEST_SUCCESS ? 0 : -EIO; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
969 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
970 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
971 |
/*****************************************************************************/ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
972 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
973 |
/** Read a slave's registers. |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
974 |
*/ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
975 |
static int ec_ioctl_slave_reg_read( |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
976 |
ec_master_t *master, /**< EtherCAT master. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
977 |
void *arg /**< ioctl() argument. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
978 |
) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
979 |
{ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
980 |
ec_ioctl_slave_reg_t data; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
981 |
ec_slave_t *slave; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
982 |
uint8_t *contents; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
983 |
ec_reg_request_t request; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
984 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
985 |
if (copy_from_user(&data, (void __user *) arg, sizeof(data))) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
986 |
return -EFAULT; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
987 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
988 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
989 |
if (!data.length) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
990 |
return 0; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
991 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
992 |
if (!(contents = kmalloc(data.length, GFP_KERNEL))) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
993 |
EC_MASTER_ERR(master, "Failed to allocate %u bytes" |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
994 |
" for register data.\n", data.length); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
995 |
return -ENOMEM; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
996 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
997 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
998 |
if (down_interruptible(&master->master_sem)) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
999 |
return -EINTR; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1000 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1001 |
if (!(slave = ec_master_find_slave( |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1002 |
master, 0, data.slave_position))) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1003 |
up(&master->master_sem); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1004 |
EC_MASTER_ERR(master, "Slave %u does not exist!\n", |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1005 |
data.slave_position); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1006 |
return -EINVAL; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1007 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1008 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1009 |
// init register request |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1010 |
INIT_LIST_HEAD(&request.list); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1011 |
request.slave = slave; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1012 |
request.dir = EC_DIR_INPUT; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1013 |
request.data = contents; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1014 |
request.offset = data.offset; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1015 |
request.length = data.length; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1016 |
request.state = EC_INT_REQUEST_QUEUED; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1017 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1018 |
// schedule request. |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1019 |
list_add_tail(&request.list, &master->reg_requests); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1020 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1021 |
up(&master->master_sem); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1022 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1023 |
// wait for processing through FSM |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1024 |
if (wait_event_interruptible(master->reg_queue, |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1025 |
request.state != EC_INT_REQUEST_QUEUED)) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1026 |
// interrupted by signal |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1027 |
down(&master->master_sem); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1028 |
if (request.state == EC_INT_REQUEST_QUEUED) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1029 |
// abort request |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1030 |
list_del(&request.list); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1031 |
up(&master->master_sem); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1032 |
kfree(contents); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1033 |
return -EINTR; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1034 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1035 |
up(&master->master_sem); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1036 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1037 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1038 |
// wait until master FSM has finished processing |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1039 |
wait_event(master->reg_queue, request.state != EC_INT_REQUEST_BUSY); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1040 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1041 |
if (request.state == EC_INT_REQUEST_SUCCESS) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1042 |
if (copy_to_user((void __user *) data.data, contents, data.length)) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1043 |
return -EFAULT; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1044 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1045 |
kfree(contents); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1046 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1047 |
return request.state == EC_INT_REQUEST_SUCCESS ? 0 : -EIO; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1048 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1049 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1050 |
/*****************************************************************************/ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1051 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1052 |
/** Write a slave's registers. |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1053 |
*/ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1054 |
static int ec_ioctl_slave_reg_write( |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1055 |
ec_master_t *master, /**< EtherCAT master. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1056 |
void *arg /**< ioctl() argument. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1057 |
) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1058 |
{ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1059 |
ec_ioctl_slave_reg_t data; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1060 |
ec_slave_t *slave; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1061 |
uint8_t *contents; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1062 |
ec_reg_request_t request; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1063 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1064 |
if (copy_from_user(&data, (void __user *) arg, sizeof(data))) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1065 |
return -EFAULT; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1066 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1067 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1068 |
if (!data.length) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1069 |
return 0; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1070 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1071 |
if (!(contents = kmalloc(data.length, GFP_KERNEL))) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1072 |
EC_MASTER_ERR(master, "Failed to allocate %u bytes" |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1073 |
" for register data.\n", data.length); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1074 |
return -ENOMEM; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1075 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1076 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1077 |
if (copy_from_user(contents, (void __user *) data.data, data.length)) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1078 |
kfree(contents); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1079 |
return -EFAULT; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1080 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1081 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1082 |
if (down_interruptible(&master->master_sem)) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1083 |
return -EINTR; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1084 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1085 |
if (!(slave = ec_master_find_slave( |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1086 |
master, 0, data.slave_position))) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1087 |
up(&master->master_sem); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1088 |
EC_MASTER_ERR(master, "Slave %u does not exist!\n", |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1089 |
data.slave_position); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1090 |
kfree(contents); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1091 |
return -EINVAL; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1092 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1093 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1094 |
// init register request |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1095 |
INIT_LIST_HEAD(&request.list); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1096 |
request.slave = slave; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1097 |
request.dir = EC_DIR_OUTPUT; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1098 |
request.data = contents; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1099 |
request.offset = data.offset; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1100 |
request.length = data.length; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1101 |
request.state = EC_INT_REQUEST_QUEUED; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1102 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1103 |
// schedule request. |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1104 |
list_add_tail(&request.list, &master->reg_requests); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1105 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1106 |
up(&master->master_sem); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1107 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1108 |
// wait for processing through FSM |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1109 |
if (wait_event_interruptible(master->reg_queue, |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1110 |
request.state != EC_INT_REQUEST_QUEUED)) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1111 |
// interrupted by signal |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1112 |
down(&master->master_sem); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1113 |
if (request.state == EC_INT_REQUEST_QUEUED) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1114 |
// abort request |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1115 |
list_del(&request.list); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1116 |
up(&master->master_sem); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1117 |
kfree(contents); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1118 |
return -EINTR; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1119 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1120 |
up(&master->master_sem); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1121 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1122 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1123 |
// wait until master FSM has finished processing |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1124 |
wait_event(master->reg_queue, request.state != EC_INT_REQUEST_BUSY); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1125 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1126 |
kfree(contents); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1127 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1128 |
return request.state == EC_INT_REQUEST_SUCCESS ? 0 : -EIO; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1129 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1130 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1131 |
/*****************************************************************************/ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1132 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1133 |
/** Get slave configuration information. |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1134 |
*/ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1135 |
static int ec_ioctl_config( |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1136 |
ec_master_t *master, /**< EtherCAT master. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1137 |
void *arg /**< ioctl() argument. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1138 |
) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1139 |
{ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1140 |
ec_ioctl_config_t data; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1141 |
const ec_slave_config_t *sc; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1142 |
uint8_t i; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1143 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1144 |
if (copy_from_user(&data, (void __user *) arg, sizeof(data))) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1145 |
return -EFAULT; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1146 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1147 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1148 |
if (down_interruptible(&master->master_sem)) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1149 |
return -EINTR; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1150 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1151 |
if (!(sc = ec_master_get_config_const( |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1152 |
master, data.config_index))) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1153 |
up(&master->master_sem); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1154 |
EC_MASTER_ERR(master, "Slave config %u does not exist!\n", |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1155 |
data.config_index); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1156 |
return -EINVAL; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1157 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1158 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1159 |
data.alias = sc->alias; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1160 |
data.position = sc->position; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1161 |
data.vendor_id = sc->vendor_id; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1162 |
data.product_code = sc->product_code; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1163 |
for (i = 0; i < EC_MAX_SYNC_MANAGERS; i++) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1164 |
data.syncs[i].dir = sc->sync_configs[i].dir; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1165 |
data.syncs[i].watchdog_mode = sc->sync_configs[i].watchdog_mode; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1166 |
data.syncs[i].pdo_count = |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1167 |
ec_pdo_list_count(&sc->sync_configs[i].pdos); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1168 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1169 |
data.watchdog_divider = sc->watchdog_divider; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1170 |
data.watchdog_intervals = sc->watchdog_intervals; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1171 |
data.sdo_count = ec_slave_config_sdo_count(sc); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1172 |
data.idn_count = ec_slave_config_idn_count(sc); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1173 |
data.slave_position = sc->slave ? sc->slave->ring_position : -1; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1174 |
data.dc_assign_activate = sc->dc_assign_activate; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1175 |
for (i = 0; i < EC_SYNC_SIGNAL_COUNT; i++) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1176 |
data.dc_sync[i] = sc->dc_sync[i]; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1177 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1178 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1179 |
up(&master->master_sem); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1180 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1181 |
if (copy_to_user((void __user *) arg, &data, sizeof(data))) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1182 |
return -EFAULT; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1183 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1184 |
return 0; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1185 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1186 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1187 |
/*****************************************************************************/ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1188 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1189 |
/** Get slave configuration PDO information. |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1190 |
*/ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1191 |
static int ec_ioctl_config_pdo( |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1192 |
ec_master_t *master, /**< EtherCAT master. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1193 |
void *arg /**< ioctl() argument. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1194 |
) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1195 |
{ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1196 |
ec_ioctl_config_pdo_t data; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1197 |
const ec_slave_config_t *sc; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1198 |
const ec_pdo_t *pdo; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1199 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1200 |
if (copy_from_user(&data, (void __user *) arg, sizeof(data))) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1201 |
return -EFAULT; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1202 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1203 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1204 |
if (data.sync_index >= EC_MAX_SYNC_MANAGERS) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1205 |
EC_MASTER_ERR(master, "Invalid sync manager index %u!\n", |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1206 |
data.sync_index); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1207 |
return -EINVAL; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1208 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1209 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1210 |
if (down_interruptible(&master->master_sem)) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1211 |
return -EINTR; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1212 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1213 |
if (!(sc = ec_master_get_config_const( |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1214 |
master, data.config_index))) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1215 |
up(&master->master_sem); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1216 |
EC_MASTER_ERR(master, "Slave config %u does not exist!\n", |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1217 |
data.config_index); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1218 |
return -EINVAL; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1219 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1220 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1221 |
if (!(pdo = ec_pdo_list_find_pdo_by_pos_const( |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1222 |
&sc->sync_configs[data.sync_index].pdos, |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1223 |
data.pdo_pos))) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1224 |
up(&master->master_sem); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1225 |
EC_MASTER_ERR(master, "Invalid PDO position!\n"); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1226 |
return -EINVAL; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1227 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1228 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1229 |
data.index = pdo->index; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1230 |
data.entry_count = ec_pdo_entry_count(pdo); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1231 |
ec_ioctl_strcpy(data.name, pdo->name); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1232 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1233 |
up(&master->master_sem); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1234 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1235 |
if (copy_to_user((void __user *) arg, &data, sizeof(data))) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1236 |
return -EFAULT; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1237 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1238 |
return 0; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1239 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1240 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1241 |
/*****************************************************************************/ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1242 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1243 |
/** Get slave configuration PDO entry information. |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1244 |
*/ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1245 |
static int ec_ioctl_config_pdo_entry( |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1246 |
ec_master_t *master, /**< EtherCAT master. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1247 |
void *arg /**< ioctl() argument. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1248 |
) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1249 |
{ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1250 |
ec_ioctl_config_pdo_entry_t data; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1251 |
const ec_slave_config_t *sc; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1252 |
const ec_pdo_t *pdo; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1253 |
const ec_pdo_entry_t *entry; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1254 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1255 |
if (copy_from_user(&data, (void __user *) arg, sizeof(data))) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1256 |
return -EFAULT; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1257 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1258 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1259 |
if (data.sync_index >= EC_MAX_SYNC_MANAGERS) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1260 |
EC_MASTER_ERR(master, "Invalid sync manager index %u!\n", |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1261 |
data.sync_index); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1262 |
return -EINVAL; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1263 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1264 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1265 |
if (down_interruptible(&master->master_sem)) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1266 |
return -EINTR; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1267 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1268 |
if (!(sc = ec_master_get_config_const( |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1269 |
master, data.config_index))) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1270 |
up(&master->master_sem); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1271 |
EC_MASTER_ERR(master, "Slave config %u does not exist!\n", |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1272 |
data.config_index); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1273 |
return -EINVAL; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1274 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1275 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1276 |
if (!(pdo = ec_pdo_list_find_pdo_by_pos_const( |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1277 |
&sc->sync_configs[data.sync_index].pdos, |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1278 |
data.pdo_pos))) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1279 |
up(&master->master_sem); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1280 |
EC_MASTER_ERR(master, "Invalid PDO position!\n"); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1281 |
return -EINVAL; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1282 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1283 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1284 |
if (!(entry = ec_pdo_find_entry_by_pos_const( |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1285 |
pdo, data.entry_pos))) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1286 |
up(&master->master_sem); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1287 |
EC_MASTER_ERR(master, "Entry not found!\n"); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1288 |
return -EINVAL; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1289 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1290 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1291 |
data.index = entry->index; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1292 |
data.subindex = entry->subindex; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1293 |
data.bit_length = entry->bit_length; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1294 |
ec_ioctl_strcpy(data.name, entry->name); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1295 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1296 |
up(&master->master_sem); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1297 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1298 |
if (copy_to_user((void __user *) arg, &data, sizeof(data))) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1299 |
return -EFAULT; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1300 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1301 |
return 0; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1302 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1303 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1304 |
/*****************************************************************************/ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1305 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1306 |
/** Get slave configuration SDO information. |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1307 |
*/ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1308 |
static int ec_ioctl_config_sdo( |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1309 |
ec_master_t *master, /**< EtherCAT master. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1310 |
void *arg /**< ioctl() argument. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1311 |
) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1312 |
{ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1313 |
ec_ioctl_config_sdo_t *ioctl; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1314 |
const ec_slave_config_t *sc; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1315 |
const ec_sdo_request_t *req; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1316 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1317 |
if (!(ioctl = kmalloc(sizeof(*ioctl), GFP_KERNEL))) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1318 |
return -ENOMEM; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1319 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1320 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1321 |
if (copy_from_user(ioctl, (void __user *) arg, sizeof(*ioctl))) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1322 |
kfree(ioctl); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1323 |
return -EFAULT; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1324 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1325 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1326 |
if (down_interruptible(&master->master_sem)) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1327 |
kfree(ioctl); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1328 |
return -EINTR; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1329 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1330 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1331 |
if (!(sc = ec_master_get_config_const( |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1332 |
master, ioctl->config_index))) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1333 |
up(&master->master_sem); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1334 |
EC_MASTER_ERR(master, "Slave config %u does not exist!\n", |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1335 |
ioctl->config_index); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1336 |
kfree(ioctl); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1337 |
return -EINVAL; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1338 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1339 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1340 |
if (!(req = ec_slave_config_get_sdo_by_pos_const( |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1341 |
sc, ioctl->sdo_pos))) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1342 |
up(&master->master_sem); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1343 |
EC_MASTER_ERR(master, "Invalid SDO position!\n"); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1344 |
kfree(ioctl); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1345 |
return -EINVAL; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1346 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1347 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1348 |
ioctl->index = req->index; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1349 |
ioctl->subindex = req->subindex; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1350 |
ioctl->size = req->data_size; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1351 |
memcpy(ioctl->data, req->data, |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1352 |
min((u32) ioctl->size, (u32) EC_MAX_SDO_DATA_SIZE)); |
2435
4151f6f4c3e1
Show complete access flag in config view.
Florian Pose <fp@igh-essen.com>
parents:
2434
diff
changeset
|
1353 |
ioctl->complete_access = req->complete_access; |
2433
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1354 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1355 |
up(&master->master_sem); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1356 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1357 |
if (copy_to_user((void __user *) arg, ioctl, sizeof(*ioctl))) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1358 |
kfree(ioctl); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1359 |
return -EFAULT; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1360 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1361 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1362 |
kfree(ioctl); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1363 |
return 0; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1364 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1365 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1366 |
/*****************************************************************************/ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1367 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1368 |
/** Get slave configuration IDN information. |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1369 |
*/ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1370 |
static int ec_ioctl_config_idn( |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1371 |
ec_master_t *master, /**< EtherCAT master. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1372 |
void *arg /**< ioctl() argument. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1373 |
) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1374 |
{ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1375 |
ec_ioctl_config_idn_t *ioctl; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1376 |
const ec_slave_config_t *sc; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1377 |
const ec_soe_request_t *req; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1378 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1379 |
if (!(ioctl = kmalloc(sizeof(*ioctl), GFP_KERNEL))) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1380 |
return -ENOMEM; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1381 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1382 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1383 |
if (copy_from_user(ioctl, (void __user *) arg, sizeof(*ioctl))) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1384 |
kfree(ioctl); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1385 |
return -EFAULT; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1386 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1387 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1388 |
if (down_interruptible(&master->master_sem)) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1389 |
kfree(ioctl); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1390 |
return -EINTR; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1391 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1392 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1393 |
if (!(sc = ec_master_get_config_const( |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1394 |
master, ioctl->config_index))) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1395 |
up(&master->master_sem); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1396 |
EC_MASTER_ERR(master, "Slave config %u does not exist!\n", |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1397 |
ioctl->config_index); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1398 |
kfree(ioctl); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1399 |
return -EINVAL; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1400 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1401 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1402 |
if (!(req = ec_slave_config_get_idn_by_pos_const( |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1403 |
sc, ioctl->idn_pos))) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1404 |
up(&master->master_sem); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1405 |
EC_MASTER_ERR(master, "Invalid IDN position!\n"); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1406 |
kfree(ioctl); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1407 |
return -EINVAL; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1408 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1409 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1410 |
ioctl->drive_no = req->drive_no; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1411 |
ioctl->idn = req->idn; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1412 |
ioctl->state = req->state; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1413 |
ioctl->size = req->data_size; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1414 |
memcpy(ioctl->data, req->data, |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1415 |
min((u32) ioctl->size, (u32) EC_MAX_IDN_DATA_SIZE)); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1416 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1417 |
up(&master->master_sem); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1418 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1419 |
if (copy_to_user((void __user *) arg, ioctl, sizeof(*ioctl))) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1420 |
kfree(ioctl); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1421 |
return -EFAULT; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1422 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1423 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1424 |
kfree(ioctl); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1425 |
return 0; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1426 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1427 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1428 |
/*****************************************************************************/ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1429 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1430 |
#ifdef EC_EOE |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1431 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1432 |
/** Get EoE handler information. |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1433 |
*/ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1434 |
static int ec_ioctl_eoe_handler( |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1435 |
ec_master_t *master, /**< EtherCAT master. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1436 |
void *arg /**< ioctl() argument. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1437 |
) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1438 |
{ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1439 |
ec_ioctl_eoe_handler_t data; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1440 |
const ec_eoe_t *eoe; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1441 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1442 |
if (copy_from_user(&data, (void __user *) arg, sizeof(data))) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1443 |
return -EFAULT; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1444 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1445 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1446 |
if (down_interruptible(&master->master_sem)) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1447 |
return -EINTR; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1448 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1449 |
if (!(eoe = ec_master_get_eoe_handler_const(master, data.eoe_index))) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1450 |
up(&master->master_sem); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1451 |
EC_MASTER_ERR(master, "EoE handler %u does not exist!\n", |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1452 |
data.eoe_index); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1453 |
return -EINVAL; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1454 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1455 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1456 |
if (eoe->slave) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1457 |
data.slave_position = eoe->slave->ring_position; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1458 |
} else { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1459 |
data.slave_position = 0xffff; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1460 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1461 |
snprintf(data.name, EC_DATAGRAM_NAME_SIZE, eoe->dev->name); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1462 |
data.open = eoe->opened; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1463 |
data.rx_bytes = eoe->stats.tx_bytes; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1464 |
data.rx_rate = eoe->tx_rate; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1465 |
data.tx_bytes = eoe->stats.rx_bytes; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1466 |
data.tx_rate = eoe->tx_rate; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1467 |
data.tx_queued_frames = eoe->tx_queued_frames; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1468 |
data.tx_queue_size = eoe->tx_queue_size; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1469 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1470 |
up(&master->master_sem); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1471 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1472 |
if (copy_to_user((void __user *) arg, &data, sizeof(data))) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1473 |
return -EFAULT; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1474 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1475 |
return 0; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1476 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1477 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1478 |
#endif |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1479 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1480 |
/*****************************************************************************/ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1481 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1482 |
/** Request the master from userspace. |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1483 |
*/ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1484 |
static int ec_ioctl_request( |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1485 |
ec_master_t *master, /**< EtherCAT master. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1486 |
void *arg, /**< ioctl() argument. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1487 |
ec_ioctl_context_t *ctx /**< Private data structure of file handle. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1488 |
) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1489 |
{ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1490 |
ec_master_t *m; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1491 |
int ret = 0; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1492 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1493 |
m = ecrt_request_master_err(master->index); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1494 |
if (IS_ERR(m)) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1495 |
ret = PTR_ERR(m); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1496 |
} else { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1497 |
ctx->requested = 1; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1498 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1499 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1500 |
return ret; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1501 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1502 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1503 |
/*****************************************************************************/ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1504 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1505 |
/** Create a domain. |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1506 |
*/ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1507 |
static int ec_ioctl_create_domain( |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1508 |
ec_master_t *master, /**< EtherCAT master. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1509 |
void *arg, /**< ioctl() argument. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1510 |
ec_ioctl_context_t *ctx /**< Private data structure of file handle. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1511 |
) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1512 |
{ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1513 |
ec_domain_t *domain; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1514 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1515 |
if (unlikely(!ctx->requested)) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1516 |
return -EPERM; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1517 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1518 |
domain = ecrt_master_create_domain_err(master); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1519 |
if (IS_ERR(domain)) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1520 |
return PTR_ERR(domain); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1521 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1522 |
return domain->index; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1523 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1524 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1525 |
/*****************************************************************************/ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1526 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1527 |
/** Create a slave configuration. |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1528 |
*/ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1529 |
static int ec_ioctl_create_slave_config( |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1530 |
ec_master_t *master, /**< EtherCAT master. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1531 |
void *arg, /**< ioctl() argument. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1532 |
ec_ioctl_context_t *ctx /**< Private data structure of file handle. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1533 |
) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1534 |
{ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1535 |
ec_ioctl_config_t data; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1536 |
ec_slave_config_t *sc, *entry; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1537 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1538 |
if (unlikely(!ctx->requested)) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1539 |
return -EPERM; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1540 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1541 |
if (copy_from_user(&data, (void __user *) arg, sizeof(data))) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1542 |
return -EFAULT; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1543 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1544 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1545 |
sc = ecrt_master_slave_config_err(master, data.alias, data.position, |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1546 |
data.vendor_id, data.product_code); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1547 |
if (IS_ERR(sc)) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1548 |
return PTR_ERR(sc); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1549 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1550 |
data.config_index = 0; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1551 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1552 |
if (down_interruptible(&master->master_sem)) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1553 |
return -EINTR; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1554 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1555 |
list_for_each_entry(entry, &master->configs, list) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1556 |
if (entry == sc) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1557 |
break; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1558 |
data.config_index++; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1559 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1560 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1561 |
up(&master->master_sem); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1562 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1563 |
if (copy_to_user((void __user *) arg, &data, sizeof(data))) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1564 |
return -EFAULT; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1565 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1566 |
return 0; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1567 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1568 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1569 |
/*****************************************************************************/ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1570 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1571 |
/** Activates the master. |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1572 |
*/ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1573 |
static int ec_ioctl_activate( |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1574 |
ec_master_t *master, /**< EtherCAT master. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1575 |
void *arg, /**< ioctl() argument. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1576 |
ec_ioctl_context_t *ctx /**< Private data structure of file handle. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1577 |
) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1578 |
{ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1579 |
ec_ioctl_master_activate_t io; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1580 |
ec_domain_t *domain; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1581 |
off_t offset; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1582 |
int ret; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1583 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1584 |
if (unlikely(!ctx->requested)) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1585 |
return -EPERM; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1586 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1587 |
io.process_data = NULL; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1588 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1589 |
/* Get the sum of the domains' process data sizes. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1590 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1591 |
ctx->process_data_size = 0; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1592 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1593 |
if (down_interruptible(&master->master_sem)) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1594 |
return -EINTR; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1595 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1596 |
list_for_each_entry(domain, &master->domains, list) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1597 |
ctx->process_data_size += ecrt_domain_size(domain); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1598 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1599 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1600 |
up(&master->master_sem); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1601 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1602 |
if (ctx->process_data_size) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1603 |
ctx->process_data = vmalloc(ctx->process_data_size); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1604 |
if (!ctx->process_data) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1605 |
ctx->process_data_size = 0; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1606 |
return -ENOMEM; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1607 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1608 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1609 |
/* Set the memory as external process data memory for the |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1610 |
* domains. |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1611 |
*/ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1612 |
offset = 0; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1613 |
list_for_each_entry(domain, &master->domains, list) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1614 |
ecrt_domain_external_memory(domain, |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1615 |
ctx->process_data + offset); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1616 |
offset += ecrt_domain_size(domain); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1617 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1618 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1619 |
#ifdef EC_IOCTL_RTDM |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1620 |
/* RTDM uses a different approach for memory-mapping, which has to be |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1621 |
* initiated by the kernel. |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1622 |
*/ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1623 |
ret = ec_rtdm_mmap(ctx, &io.process_data); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1624 |
if (ret < 0) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1625 |
EC_MASTER_ERR(master, "Failed to map process data" |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1626 |
" memory to user space (code %i).\n", ret); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1627 |
return ret; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1628 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1629 |
#endif |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1630 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1631 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1632 |
io.process_data_size = ctx->process_data_size; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1633 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1634 |
#ifndef EC_IOCTL_RTDM |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1635 |
ecrt_master_callbacks(master, ec_master_internal_send_cb, |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1636 |
ec_master_internal_receive_cb, master); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1637 |
#endif |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1638 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1639 |
ret = ecrt_master_activate(master); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1640 |
if (ret < 0) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1641 |
return ret; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1642 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1643 |
if (copy_to_user((void __user *) arg, &io, |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1644 |
sizeof(ec_ioctl_master_activate_t))) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1645 |
return -EFAULT; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1646 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1647 |
return 0; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1648 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1649 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1650 |
/*****************************************************************************/ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1651 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1652 |
/** Deactivates the master. |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1653 |
*/ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1654 |
static int ec_ioctl_deactivate( |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1655 |
ec_master_t *master, /**< EtherCAT master. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1656 |
void *arg, /**< ioctl() argument. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1657 |
ec_ioctl_context_t *ctx /**< Private data structure of file handle. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1658 |
) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1659 |
{ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1660 |
if (unlikely(!ctx->requested)) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1661 |
return -EPERM; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1662 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1663 |
ecrt_master_deactivate(master); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1664 |
return 0; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1665 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1666 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1667 |
/*****************************************************************************/ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1668 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1669 |
/** Set max. number of databytes in a cycle |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1670 |
*/ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1671 |
static int ec_ioctl_set_send_interval( |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1672 |
ec_master_t *master, /**< EtherCAT master. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1673 |
void *arg, /**< ioctl() argument. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1674 |
ec_ioctl_context_t *ctx /**< Private data structure of file handle. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1675 |
) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1676 |
{ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1677 |
size_t send_interval; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1678 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1679 |
if (copy_from_user(&send_interval, (void __user *) arg, |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1680 |
sizeof(send_interval))) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1681 |
return -EFAULT; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1682 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1683 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1684 |
if (down_interruptible(&master->master_sem)) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1685 |
return -EINTR; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1686 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1687 |
ec_master_set_send_interval(master, send_interval); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1688 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1689 |
up(&master->master_sem); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1690 |
return 0; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1691 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1692 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1693 |
/*****************************************************************************/ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1694 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1695 |
/** Send frames. |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1696 |
*/ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1697 |
static int ec_ioctl_send( |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1698 |
ec_master_t *master, /**< EtherCAT master. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1699 |
void *arg, /**< ioctl() argument. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1700 |
ec_ioctl_context_t *ctx /**< Private data structure of file handle. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1701 |
) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1702 |
{ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1703 |
if (unlikely(!ctx->requested)) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1704 |
return -EPERM; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1705 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1706 |
down(&master->io_sem); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1707 |
ecrt_master_send(master); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1708 |
up(&master->io_sem); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1709 |
return 0; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1710 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1711 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1712 |
/*****************************************************************************/ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1713 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1714 |
/** Receive frames. |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1715 |
*/ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1716 |
static int ec_ioctl_receive( |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1717 |
ec_master_t *master, /**< EtherCAT master. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1718 |
void *arg, /**< ioctl() argument. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1719 |
ec_ioctl_context_t *ctx /**< Private data structure of file handle. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1720 |
) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1721 |
{ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1722 |
if (unlikely(!ctx->requested)) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1723 |
return -EPERM; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1724 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1725 |
down(&master->io_sem); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1726 |
ecrt_master_receive(master); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1727 |
up(&master->io_sem); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1728 |
return 0; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1729 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1730 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1731 |
/*****************************************************************************/ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1732 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1733 |
/** Get the master state. |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1734 |
*/ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1735 |
static int ec_ioctl_master_state( |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1736 |
ec_master_t *master, /**< EtherCAT master. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1737 |
void *arg, /**< ioctl() argument. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1738 |
ec_ioctl_context_t *ctx /**< Private data structure of file handle. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1739 |
) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1740 |
{ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1741 |
ec_master_state_t data; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1742 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1743 |
if (unlikely(!ctx->requested)) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1744 |
return -EPERM; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1745 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1746 |
ecrt_master_state(master, &data); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1747 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1748 |
if (copy_to_user((void __user *) arg, &data, sizeof(data))) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1749 |
return -EFAULT; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1750 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1751 |
return 0; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1752 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1753 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1754 |
/*****************************************************************************/ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1755 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1756 |
/** Get the master state. |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1757 |
*/ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1758 |
static int ec_ioctl_master_link_state( |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1759 |
ec_master_t *master, /**< EtherCAT master. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1760 |
void *arg, /**< ioctl() argument. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1761 |
ec_ioctl_context_t *ctx /**< Private data structure of file handle. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1762 |
) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1763 |
{ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1764 |
ec_ioctl_link_state_t ioctl; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1765 |
ec_master_link_state_t state; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1766 |
int ret; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1767 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1768 |
if (unlikely(!ctx->requested)) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1769 |
return -EPERM; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1770 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1771 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1772 |
if (copy_from_user(&ioctl, (void __user *) arg, sizeof(ioctl))) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1773 |
return -EFAULT; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1774 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1775 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1776 |
ret = ecrt_master_link_state(master, ioctl.dev_idx, &state); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1777 |
if (ret < 0) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1778 |
return ret; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1779 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1780 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1781 |
if (copy_to_user((void __user *) ioctl.state, &state, sizeof(state))) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1782 |
return -EFAULT; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1783 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1784 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1785 |
return 0; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1786 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1787 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1788 |
/*****************************************************************************/ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1789 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1790 |
/** Set the master dc app time. |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1791 |
*/ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1792 |
static int ec_ioctl_app_time( |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1793 |
ec_master_t *master, /**< EtherCAT master. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1794 |
void *arg, /**< ioctl() argument. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1795 |
ec_ioctl_context_t *ctx /**< Private data structure of file handle. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1796 |
) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1797 |
{ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1798 |
ec_ioctl_app_time_t data; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1799 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1800 |
if (unlikely(!ctx->requested)) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1801 |
return -EPERM; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1802 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1803 |
if (copy_from_user(&data, (void __user *) arg, sizeof(data))) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1804 |
return -EFAULT; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1805 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1806 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1807 |
ecrt_master_application_time(master, data.app_time); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1808 |
return 0; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1809 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1810 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1811 |
/*****************************************************************************/ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1812 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1813 |
/** Sync the reference clock. |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1814 |
*/ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1815 |
static int ec_ioctl_sync_ref( |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1816 |
ec_master_t *master, /**< EtherCAT master. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1817 |
void *arg, /**< ioctl() argument. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1818 |
ec_ioctl_context_t *ctx /**< Private data structure of file handle. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1819 |
) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1820 |
{ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1821 |
if (unlikely(!ctx->requested)) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1822 |
return -EPERM; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1823 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1824 |
down(&master->io_sem); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1825 |
ecrt_master_sync_reference_clock(master); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1826 |
up(&master->io_sem); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1827 |
return 0; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1828 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1829 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1830 |
/*****************************************************************************/ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1831 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1832 |
/** Sync the slave clocks. |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1833 |
*/ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1834 |
static int ec_ioctl_sync_slaves( |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1835 |
ec_master_t *master, /**< EtherCAT master. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1836 |
void *arg, /**< ioctl() argument. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1837 |
ec_ioctl_context_t *ctx /**< Private data structure of file handle. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1838 |
) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1839 |
{ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1840 |
if (unlikely(!ctx->requested)) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1841 |
return -EPERM; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1842 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1843 |
down(&master->io_sem); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1844 |
ecrt_master_sync_slave_clocks(master); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1845 |
up(&master->io_sem); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1846 |
return 0; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1847 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1848 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1849 |
/*****************************************************************************/ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1850 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1851 |
/** Queue the sync monitoring datagram. |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1852 |
*/ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1853 |
static int ec_ioctl_sync_mon_queue( |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1854 |
ec_master_t *master, /**< EtherCAT master. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1855 |
void *arg, /**< ioctl() argument. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1856 |
ec_ioctl_context_t *ctx /**< Private data structure of file handle. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1857 |
) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1858 |
{ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1859 |
if (unlikely(!ctx->requested)) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1860 |
return -EPERM; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1861 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1862 |
down(&master->io_sem); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1863 |
ecrt_master_sync_monitor_queue(master); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1864 |
up(&master->io_sem); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1865 |
return 0; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1866 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1867 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1868 |
/*****************************************************************************/ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1869 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1870 |
/** Processes the sync monitoring datagram. |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1871 |
*/ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1872 |
static int ec_ioctl_sync_mon_process( |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1873 |
ec_master_t *master, /**< EtherCAT master. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1874 |
void *arg, /**< ioctl() argument. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1875 |
ec_ioctl_context_t *ctx /**< Private data structure of file handle. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1876 |
) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1877 |
{ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1878 |
uint32_t time_diff; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1879 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1880 |
if (unlikely(!ctx->requested)) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1881 |
return -EPERM; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1882 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1883 |
down(&master->io_sem); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1884 |
time_diff = ecrt_master_sync_monitor_process(master); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1885 |
up(&master->io_sem); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1886 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1887 |
if (copy_to_user((void __user *) arg, &time_diff, sizeof(time_diff))) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1888 |
return -EFAULT; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1889 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1890 |
return 0; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1891 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1892 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1893 |
/*****************************************************************************/ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1894 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1895 |
/** Reset configuration. |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1896 |
*/ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1897 |
static int ec_ioctl_reset( |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1898 |
ec_master_t *master, /**< EtherCAT master. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1899 |
void *arg, /**< ioctl() argument. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1900 |
ec_ioctl_context_t *ctx /**< Private data structure of file handle. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1901 |
) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1902 |
{ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1903 |
if (unlikely(!ctx->requested)) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1904 |
return -EPERM; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1905 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1906 |
down(&master->master_sem); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1907 |
ecrt_master_reset(master); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1908 |
up(&master->master_sem); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1909 |
return 0; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1910 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1911 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1912 |
/*****************************************************************************/ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1913 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1914 |
/** Configure a sync manager. |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1915 |
*/ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1916 |
static int ec_ioctl_sc_sync( |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1917 |
ec_master_t *master, /**< EtherCAT master. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1918 |
void *arg, /**< ioctl() argument. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1919 |
ec_ioctl_context_t *ctx /**< Private data structure of file handle. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1920 |
) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1921 |
{ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1922 |
ec_ioctl_config_t data; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1923 |
ec_slave_config_t *sc; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1924 |
unsigned int i; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1925 |
int ret = 0; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1926 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1927 |
if (unlikely(!ctx->requested)) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1928 |
ret = -EPERM; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1929 |
goto out_return; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1930 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1931 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1932 |
if (copy_from_user(&data, (void __user *) arg, sizeof(data))) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1933 |
ret = -EFAULT; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1934 |
goto out_return; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1935 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1936 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1937 |
if (down_interruptible(&master->master_sem)) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1938 |
ret = -EINTR; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1939 |
goto out_return; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1940 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1941 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1942 |
if (!(sc = ec_master_get_config(master, data.config_index))) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1943 |
ret = -ENOENT; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1944 |
goto out_up; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1945 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1946 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1947 |
for (i = 0; i < EC_MAX_SYNC_MANAGERS; i++) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1948 |
if (data.syncs[i].config_this) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1949 |
if (ecrt_slave_config_sync_manager(sc, i, data.syncs[i].dir, |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1950 |
data.syncs[i].watchdog_mode)) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1951 |
ret = -EINVAL; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1952 |
goto out_up; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1953 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1954 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1955 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1956 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1957 |
out_up: |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1958 |
up(&master->master_sem); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1959 |
out_return: |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1960 |
return ret; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1961 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1962 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1963 |
/*****************************************************************************/ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1964 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1965 |
/** Configure a slave's watchdogs. |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1966 |
*/ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1967 |
static int ec_ioctl_sc_watchdog( |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1968 |
ec_master_t *master, /**< EtherCAT master. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1969 |
void *arg, /**< ioctl() argument. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1970 |
ec_ioctl_context_t *ctx /**< Private data structure of file handle. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1971 |
) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1972 |
{ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1973 |
ec_ioctl_config_t data; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1974 |
ec_slave_config_t *sc; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1975 |
int ret = 0; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1976 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1977 |
if (unlikely(!ctx->requested)) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1978 |
ret = -EPERM; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1979 |
goto out_return; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1980 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1981 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1982 |
if (copy_from_user(&data, (void __user *) arg, sizeof(data))) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1983 |
ret = -EFAULT; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1984 |
goto out_return; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1985 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1986 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1987 |
if (down_interruptible(&master->master_sem)) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1988 |
ret = -EINTR; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1989 |
goto out_return; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1990 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1991 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1992 |
if (!(sc = ec_master_get_config(master, data.config_index))) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1993 |
ret = -ENOENT; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1994 |
goto out_up; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1995 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1996 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1997 |
ecrt_slave_config_watchdog(sc, |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1998 |
data.watchdog_divider, data.watchdog_intervals); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1999 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2000 |
out_up: |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2001 |
up(&master->master_sem); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2002 |
out_return: |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2003 |
return ret; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2004 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2005 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2006 |
/*****************************************************************************/ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2007 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2008 |
/** Add a PDO to the assignment. |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2009 |
*/ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2010 |
static int ec_ioctl_sc_add_pdo( |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2011 |
ec_master_t *master, /**< EtherCAT master. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2012 |
void *arg, /**< ioctl() argument. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2013 |
ec_ioctl_context_t *ctx /**< Private data structure of file handle. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2014 |
) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2015 |
{ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2016 |
ec_ioctl_config_pdo_t data; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2017 |
ec_slave_config_t *sc; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2018 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2019 |
if (unlikely(!ctx->requested)) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2020 |
return -EPERM; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2021 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2022 |
if (copy_from_user(&data, (void __user *) arg, sizeof(data))) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2023 |
return -EFAULT; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2024 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2025 |
if (down_interruptible(&master->master_sem)) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2026 |
return -EINTR; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2027 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2028 |
if (!(sc = ec_master_get_config(master, data.config_index))) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2029 |
up(&master->master_sem); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2030 |
return -ENOENT; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2031 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2032 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2033 |
up(&master->master_sem); /** \fixme sc could be invalidated */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2034 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2035 |
return ecrt_slave_config_pdo_assign_add(sc, data.sync_index, data.index); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2036 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2037 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2038 |
/*****************************************************************************/ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2039 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2040 |
/** Clears the PDO assignment. |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2041 |
*/ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2042 |
static int ec_ioctl_sc_clear_pdos( |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2043 |
ec_master_t *master, /**< EtherCAT master. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2044 |
void *arg, /**< ioctl() argument. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2045 |
ec_ioctl_context_t *ctx /**< Private data structure of file handle. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2046 |
) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2047 |
{ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2048 |
ec_ioctl_config_pdo_t data; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2049 |
ec_slave_config_t *sc; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2050 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2051 |
if (unlikely(!ctx->requested)) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2052 |
return -EPERM; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2053 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2054 |
if (copy_from_user(&data, (void __user *) arg, sizeof(data))) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2055 |
return -EFAULT; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2056 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2057 |
if (down_interruptible(&master->master_sem)) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2058 |
return -EINTR; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2059 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2060 |
if (!(sc = ec_master_get_config(master, data.config_index))) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2061 |
up(&master->master_sem); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2062 |
return -ENOENT; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2063 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2064 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2065 |
up(&master->master_sem); /** \fixme sc could be invalidated */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2066 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2067 |
ecrt_slave_config_pdo_assign_clear(sc, data.sync_index); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2068 |
return 0; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2069 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2070 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2071 |
/*****************************************************************************/ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2072 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2073 |
/** Add an entry to a PDO's mapping. |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2074 |
*/ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2075 |
static int ec_ioctl_sc_add_entry( |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2076 |
ec_master_t *master, /**< EtherCAT master. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2077 |
void *arg, /**< ioctl() argument. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2078 |
ec_ioctl_context_t *ctx /**< Private data structure of file handle. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2079 |
) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2080 |
{ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2081 |
ec_ioctl_add_pdo_entry_t data; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2082 |
ec_slave_config_t *sc; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2083 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2084 |
if (unlikely(!ctx->requested)) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2085 |
return -EPERM; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2086 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2087 |
if (copy_from_user(&data, (void __user *) arg, sizeof(data))) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2088 |
return -EFAULT; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2089 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2090 |
if (down_interruptible(&master->master_sem)) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2091 |
return -EINTR; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2092 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2093 |
if (!(sc = ec_master_get_config(master, data.config_index))) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2094 |
up(&master->master_sem); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2095 |
return -ENOENT; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2096 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2097 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2098 |
up(&master->master_sem); /** \fixme sc could be invalidated */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2099 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2100 |
return ecrt_slave_config_pdo_mapping_add(sc, data.pdo_index, |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2101 |
data.entry_index, data.entry_subindex, data.entry_bit_length); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2102 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2103 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2104 |
/*****************************************************************************/ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2105 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2106 |
/** Clears the mapping of a PDO. |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2107 |
*/ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2108 |
static int ec_ioctl_sc_clear_entries( |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2109 |
ec_master_t *master, /**< EtherCAT master. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2110 |
void *arg, /**< ioctl() argument. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2111 |
ec_ioctl_context_t *ctx /**< Private data structure of file handle. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2112 |
) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2113 |
{ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2114 |
ec_ioctl_config_pdo_t data; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2115 |
ec_slave_config_t *sc; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2116 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2117 |
if (unlikely(!ctx->requested)) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2118 |
return -EPERM; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2119 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2120 |
if (copy_from_user(&data, (void __user *) arg, sizeof(data))) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2121 |
return -EFAULT; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2122 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2123 |
if (down_interruptible(&master->master_sem)) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2124 |
return -EINTR; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2125 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2126 |
if (!(sc = ec_master_get_config(master, data.config_index))) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2127 |
up(&master->master_sem); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2128 |
return -ENOENT; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2129 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2130 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2131 |
up(&master->master_sem); /** \fixme sc could be invalidated */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2132 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2133 |
ecrt_slave_config_pdo_mapping_clear(sc, data.index); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2134 |
return 0; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2135 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2136 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2137 |
/*****************************************************************************/ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2138 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2139 |
/** Registers a PDO entry. |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2140 |
*/ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2141 |
static int ec_ioctl_sc_reg_pdo_entry( |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2142 |
ec_master_t *master, /**< EtherCAT master. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2143 |
void *arg, /**< ioctl() argument. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2144 |
ec_ioctl_context_t *ctx /**< Private data structure of file handle. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2145 |
) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2146 |
{ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2147 |
ec_ioctl_reg_pdo_entry_t data; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2148 |
ec_slave_config_t *sc; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2149 |
ec_domain_t *domain; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2150 |
int ret; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2151 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2152 |
if (unlikely(!ctx->requested)) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2153 |
return -EPERM; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2154 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2155 |
if (copy_from_user(&data, (void __user *) arg, sizeof(data))) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2156 |
return -EFAULT; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2157 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2158 |
if (down_interruptible(&master->master_sem)) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2159 |
return -EINTR; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2160 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2161 |
if (!(sc = ec_master_get_config(master, data.config_index))) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2162 |
up(&master->master_sem); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2163 |
return -ENOENT; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2164 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2165 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2166 |
if (!(domain = ec_master_find_domain(master, data.domain_index))) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2167 |
up(&master->master_sem); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2168 |
return -ENOENT; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2169 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2170 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2171 |
up(&master->master_sem); /** \fixme sc or domain could be invalidated */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2172 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2173 |
ret = ecrt_slave_config_reg_pdo_entry(sc, data.entry_index, |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2174 |
data.entry_subindex, domain, &data.bit_position); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2175 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2176 |
if (copy_to_user((void __user *) arg, &data, sizeof(data))) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2177 |
return -EFAULT; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2178 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2179 |
return ret; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2180 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2181 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2182 |
/*****************************************************************************/ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2183 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2184 |
/** Sets the DC AssignActivate word and the sync signal times. |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2185 |
*/ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2186 |
static int ec_ioctl_sc_dc( |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2187 |
ec_master_t *master, /**< EtherCAT master. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2188 |
void *arg, /**< ioctl() argument. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2189 |
ec_ioctl_context_t *ctx /**< Private data structure of file handle. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2190 |
) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2191 |
{ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2192 |
ec_ioctl_config_t data; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2193 |
ec_slave_config_t *sc; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2194 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2195 |
if (unlikely(!ctx->requested)) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2196 |
return -EPERM; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2197 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2198 |
if (copy_from_user(&data, (void __user *) arg, sizeof(data))) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2199 |
return -EFAULT; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2200 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2201 |
if (down_interruptible(&master->master_sem)) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2202 |
return -EINTR; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2203 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2204 |
if (!(sc = ec_master_get_config(master, data.config_index))) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2205 |
up(&master->master_sem); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2206 |
return -ENOENT; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2207 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2208 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2209 |
ecrt_slave_config_dc(sc, data.dc_assign_activate, |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2210 |
data.dc_sync[0].cycle_time, |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2211 |
data.dc_sync[0].shift_time, |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2212 |
data.dc_sync[1].cycle_time, |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2213 |
data.dc_sync[1].shift_time); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2214 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2215 |
up(&master->master_sem); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2216 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2217 |
return 0; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2218 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2219 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2220 |
/*****************************************************************************/ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2221 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2222 |
/** Configures an SDO. |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2223 |
*/ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2224 |
static int ec_ioctl_sc_sdo( |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2225 |
ec_master_t *master, /**< EtherCAT master. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2226 |
void *arg, /**< ioctl() argument. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2227 |
ec_ioctl_context_t *ctx /**< Private data structure of file handle. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2228 |
) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2229 |
{ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2230 |
ec_ioctl_sc_sdo_t data; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2231 |
ec_slave_config_t *sc; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2232 |
uint8_t *sdo_data = NULL; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2233 |
int ret; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2234 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2235 |
if (unlikely(!ctx->requested)) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2236 |
return -EPERM; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2237 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2238 |
if (copy_from_user(&data, (void __user *) arg, sizeof(data))) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2239 |
return -EFAULT; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2240 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2241 |
if (!data.size) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2242 |
return -EINVAL; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2243 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2244 |
if (!(sdo_data = kmalloc(data.size, GFP_KERNEL))) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2245 |
return -ENOMEM; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2246 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2247 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2248 |
if (copy_from_user(sdo_data, (void __user *) data.data, data.size)) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2249 |
kfree(sdo_data); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2250 |
return -EFAULT; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2251 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2252 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2253 |
if (down_interruptible(&master->master_sem)) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2254 |
kfree(sdo_data); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2255 |
return -EINTR; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2256 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2257 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2258 |
if (!(sc = ec_master_get_config(master, data.config_index))) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2259 |
up(&master->master_sem); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2260 |
kfree(sdo_data); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2261 |
return -ENOENT; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2262 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2263 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2264 |
up(&master->master_sem); /** \fixme sc could be invalidated */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2265 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2266 |
if (data.complete_access) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2267 |
ret = ecrt_slave_config_complete_sdo(sc, |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2268 |
data.index, sdo_data, data.size); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2269 |
} else { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2270 |
ret = ecrt_slave_config_sdo(sc, data.index, data.subindex, sdo_data, |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2271 |
data.size); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2272 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2273 |
kfree(sdo_data); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2274 |
return ret; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2275 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2276 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2277 |
/*****************************************************************************/ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2278 |
|
2438
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2435
diff
changeset
|
2279 |
/** Set the emergency ring buffer size. |
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2435
diff
changeset
|
2280 |
*/ |
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2435
diff
changeset
|
2281 |
static int ec_ioctl_sc_emerg_size( |
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2435
diff
changeset
|
2282 |
ec_master_t *master, /**< EtherCAT master. */ |
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2435
diff
changeset
|
2283 |
void *arg, /**< ioctl() argument. */ |
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2435
diff
changeset
|
2284 |
ec_ioctl_context_t *ctx /**< Private data structure of file handle. */ |
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2435
diff
changeset
|
2285 |
) |
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2435
diff
changeset
|
2286 |
{ |
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2435
diff
changeset
|
2287 |
ec_ioctl_sc_emerg_t io; |
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2435
diff
changeset
|
2288 |
ec_slave_config_t *sc; |
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2435
diff
changeset
|
2289 |
int ret; |
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2435
diff
changeset
|
2290 |
|
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2435
diff
changeset
|
2291 |
if (unlikely(!ctx->requested)) |
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2435
diff
changeset
|
2292 |
return -EPERM; |
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2435
diff
changeset
|
2293 |
|
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2435
diff
changeset
|
2294 |
if (copy_from_user(&io, (void __user *) arg, sizeof(io))) |
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2435
diff
changeset
|
2295 |
return -EFAULT; |
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2435
diff
changeset
|
2296 |
|
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2435
diff
changeset
|
2297 |
if (down_interruptible(&master->master_sem)) { |
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2435
diff
changeset
|
2298 |
return -EINTR; |
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2435
diff
changeset
|
2299 |
} |
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2435
diff
changeset
|
2300 |
|
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2435
diff
changeset
|
2301 |
if (!(sc = ec_master_get_config(master, io.config_index))) { |
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2435
diff
changeset
|
2302 |
up(&master->master_sem); |
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2435
diff
changeset
|
2303 |
return -ENOENT; |
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2435
diff
changeset
|
2304 |
} |
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2435
diff
changeset
|
2305 |
|
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2435
diff
changeset
|
2306 |
ret = ecrt_slave_config_emerg_size(sc, io.size); |
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2435
diff
changeset
|
2307 |
|
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2435
diff
changeset
|
2308 |
up(&master->master_sem); |
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2435
diff
changeset
|
2309 |
|
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2435
diff
changeset
|
2310 |
return ret; |
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2435
diff
changeset
|
2311 |
} |
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2435
diff
changeset
|
2312 |
|
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2435
diff
changeset
|
2313 |
/*****************************************************************************/ |
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2435
diff
changeset
|
2314 |
|
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2435
diff
changeset
|
2315 |
/** Get an emergency message from the ring. |
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2435
diff
changeset
|
2316 |
*/ |
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2435
diff
changeset
|
2317 |
static int ec_ioctl_sc_emerg_pop( |
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2435
diff
changeset
|
2318 |
ec_master_t *master, /**< EtherCAT master. */ |
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2435
diff
changeset
|
2319 |
void *arg, /**< ioctl() argument. */ |
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2435
diff
changeset
|
2320 |
ec_ioctl_context_t *ctx /**< Private data structure of file handle. */ |
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2435
diff
changeset
|
2321 |
) |
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2435
diff
changeset
|
2322 |
{ |
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2435
diff
changeset
|
2323 |
ec_ioctl_sc_emerg_t io; |
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2435
diff
changeset
|
2324 |
ec_slave_config_t *sc; |
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2435
diff
changeset
|
2325 |
u8 msg[EC_COE_EMERGENCY_MSG_SIZE]; |
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2435
diff
changeset
|
2326 |
int ret; |
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2435
diff
changeset
|
2327 |
|
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2435
diff
changeset
|
2328 |
if (unlikely(!ctx->requested)) |
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2435
diff
changeset
|
2329 |
return -EPERM; |
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2435
diff
changeset
|
2330 |
|
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2435
diff
changeset
|
2331 |
if (copy_from_user(&io, (void __user *) arg, sizeof(io))) |
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2435
diff
changeset
|
2332 |
return -EFAULT; |
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2435
diff
changeset
|
2333 |
|
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2435
diff
changeset
|
2334 |
if (down_interruptible(&master->master_sem)) { |
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2435
diff
changeset
|
2335 |
return -EINTR; |
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2435
diff
changeset
|
2336 |
} |
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2435
diff
changeset
|
2337 |
|
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2435
diff
changeset
|
2338 |
if (!(sc = ec_master_get_config(master, io.config_index))) { |
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2435
diff
changeset
|
2339 |
up(&master->master_sem); |
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2435
diff
changeset
|
2340 |
return -ENOENT; |
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2435
diff
changeset
|
2341 |
} |
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2435
diff
changeset
|
2342 |
|
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2435
diff
changeset
|
2343 |
ret = ecrt_slave_config_emerg_pop(sc, msg); |
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2435
diff
changeset
|
2344 |
|
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2435
diff
changeset
|
2345 |
up(&master->master_sem); |
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2435
diff
changeset
|
2346 |
|
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2435
diff
changeset
|
2347 |
if (ret < 0) { |
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2435
diff
changeset
|
2348 |
return ret; |
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2435
diff
changeset
|
2349 |
} |
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2435
diff
changeset
|
2350 |
|
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2435
diff
changeset
|
2351 |
if (copy_to_user((void __user *) io.target, msg, sizeof(msg))) { |
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2435
diff
changeset
|
2352 |
return -EFAULT; |
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2435
diff
changeset
|
2353 |
} |
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2435
diff
changeset
|
2354 |
|
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2435
diff
changeset
|
2355 |
return ret; |
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2435
diff
changeset
|
2356 |
} |
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2435
diff
changeset
|
2357 |
|
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2435
diff
changeset
|
2358 |
/*****************************************************************************/ |
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2435
diff
changeset
|
2359 |
|
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2435
diff
changeset
|
2360 |
/** Clear the emergency ring. |
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2435
diff
changeset
|
2361 |
*/ |
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2435
diff
changeset
|
2362 |
static int ec_ioctl_sc_emerg_clear( |
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2435
diff
changeset
|
2363 |
ec_master_t *master, /**< EtherCAT master. */ |
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2435
diff
changeset
|
2364 |
void *arg, /**< ioctl() argument. */ |
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2435
diff
changeset
|
2365 |
ec_ioctl_context_t *ctx /**< Private data structure of file handle. */ |
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2435
diff
changeset
|
2366 |
) |
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2435
diff
changeset
|
2367 |
{ |
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2435
diff
changeset
|
2368 |
ec_ioctl_sc_emerg_t io; |
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2435
diff
changeset
|
2369 |
ec_slave_config_t *sc; |
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2435
diff
changeset
|
2370 |
int ret; |
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2435
diff
changeset
|
2371 |
|
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2435
diff
changeset
|
2372 |
if (unlikely(!ctx->requested)) |
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2435
diff
changeset
|
2373 |
return -EPERM; |
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2435
diff
changeset
|
2374 |
|
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2435
diff
changeset
|
2375 |
if (copy_from_user(&io, (void __user *) arg, sizeof(io))) |
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2435
diff
changeset
|
2376 |
return -EFAULT; |
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2435
diff
changeset
|
2377 |
|
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2435
diff
changeset
|
2378 |
if (down_interruptible(&master->master_sem)) { |
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2435
diff
changeset
|
2379 |
return -EINTR; |
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2435
diff
changeset
|
2380 |
} |
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2435
diff
changeset
|
2381 |
|
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2435
diff
changeset
|
2382 |
if (!(sc = ec_master_get_config(master, io.config_index))) { |
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2435
diff
changeset
|
2383 |
up(&master->master_sem); |
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2435
diff
changeset
|
2384 |
return -ENOENT; |
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2435
diff
changeset
|
2385 |
} |
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2435
diff
changeset
|
2386 |
|
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2435
diff
changeset
|
2387 |
ret = ecrt_slave_config_emerg_clear(sc); |
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2435
diff
changeset
|
2388 |
|
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2435
diff
changeset
|
2389 |
up(&master->master_sem); |
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2435
diff
changeset
|
2390 |
|
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2435
diff
changeset
|
2391 |
return ret; |
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2435
diff
changeset
|
2392 |
} |
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2435
diff
changeset
|
2393 |
|
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2435
diff
changeset
|
2394 |
/*****************************************************************************/ |
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2435
diff
changeset
|
2395 |
|
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2435
diff
changeset
|
2396 |
/** Get the number of emergency overruns. |
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2435
diff
changeset
|
2397 |
*/ |
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2435
diff
changeset
|
2398 |
static int ec_ioctl_sc_emerg_overruns( |
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2435
diff
changeset
|
2399 |
ec_master_t *master, /**< EtherCAT master. */ |
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2435
diff
changeset
|
2400 |
void *arg, /**< ioctl() argument. */ |
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2435
diff
changeset
|
2401 |
ec_ioctl_context_t *ctx /**< Private data structure of file handle. */ |
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2435
diff
changeset
|
2402 |
) |
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2435
diff
changeset
|
2403 |
{ |
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2435
diff
changeset
|
2404 |
ec_ioctl_sc_emerg_t io; |
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2435
diff
changeset
|
2405 |
ec_slave_config_t *sc; |
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2435
diff
changeset
|
2406 |
int ret; |
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2435
diff
changeset
|
2407 |
|
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2435
diff
changeset
|
2408 |
if (unlikely(!ctx->requested)) |
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2435
diff
changeset
|
2409 |
return -EPERM; |
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2435
diff
changeset
|
2410 |
|
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2435
diff
changeset
|
2411 |
if (copy_from_user(&io, (void __user *) arg, sizeof(io))) |
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2435
diff
changeset
|
2412 |
return -EFAULT; |
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2435
diff
changeset
|
2413 |
|
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2435
diff
changeset
|
2414 |
if (down_interruptible(&master->master_sem)) { |
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2435
diff
changeset
|
2415 |
return -EINTR; |
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2435
diff
changeset
|
2416 |
} |
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2435
diff
changeset
|
2417 |
|
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2435
diff
changeset
|
2418 |
if (!(sc = ec_master_get_config(master, io.config_index))) { |
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2435
diff
changeset
|
2419 |
up(&master->master_sem); |
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2435
diff
changeset
|
2420 |
return -ENOENT; |
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2435
diff
changeset
|
2421 |
} |
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2435
diff
changeset
|
2422 |
|
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2435
diff
changeset
|
2423 |
ret = ecrt_slave_config_emerg_overruns(sc); |
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2435
diff
changeset
|
2424 |
|
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2435
diff
changeset
|
2425 |
up(&master->master_sem); |
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2435
diff
changeset
|
2426 |
|
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2435
diff
changeset
|
2427 |
if (ret < 0) { |
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2435
diff
changeset
|
2428 |
return ret; |
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2435
diff
changeset
|
2429 |
} |
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2435
diff
changeset
|
2430 |
|
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2435
diff
changeset
|
2431 |
io.overruns = ret; |
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2435
diff
changeset
|
2432 |
|
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2435
diff
changeset
|
2433 |
if (copy_to_user((void __user *) arg, &io, sizeof(io))) { |
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2435
diff
changeset
|
2434 |
return -EFAULT; |
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2435
diff
changeset
|
2435 |
} |
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2435
diff
changeset
|
2436 |
|
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2435
diff
changeset
|
2437 |
return 0; |
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2435
diff
changeset
|
2438 |
} |
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2435
diff
changeset
|
2439 |
|
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2435
diff
changeset
|
2440 |
/*****************************************************************************/ |
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2435
diff
changeset
|
2441 |
|
2433
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2442 |
/** Create an SDO request. |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2443 |
*/ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2444 |
static int ec_ioctl_sc_create_sdo_request( |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2445 |
ec_master_t *master, /**< EtherCAT master. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2446 |
void *arg, /**< ioctl() argument. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2447 |
ec_ioctl_context_t *ctx /**< Private data structure of file handle. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2448 |
) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2449 |
{ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2450 |
ec_ioctl_sdo_request_t data; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2451 |
ec_slave_config_t *sc; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2452 |
ec_sdo_request_t *req; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2453 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2454 |
if (unlikely(!ctx->requested)) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2455 |
return -EPERM; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2456 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2457 |
if (copy_from_user(&data, (void __user *) arg, sizeof(data))) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2458 |
return -EFAULT; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2459 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2460 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2461 |
data.request_index = 0; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2462 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2463 |
if (down_interruptible(&master->master_sem)) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2464 |
return -EINTR; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2465 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2466 |
sc = ec_master_get_config(master, data.config_index); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2467 |
if (!sc) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2468 |
up(&master->master_sem); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2469 |
return -ENOENT; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2470 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2471 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2472 |
list_for_each_entry(req, &sc->sdo_requests, list) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2473 |
data.request_index++; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2474 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2475 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2476 |
up(&master->master_sem); /** \fixme sc could be invalidated */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2477 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2478 |
req = ecrt_slave_config_create_sdo_request_err(sc, data.sdo_index, |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2479 |
data.sdo_subindex, data.size); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2480 |
if (IS_ERR(req)) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2481 |
return PTR_ERR(req); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2482 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2483 |
if (copy_to_user((void __user *) arg, &data, sizeof(data))) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2484 |
return -EFAULT; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2485 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2486 |
return 0; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2487 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2488 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2489 |
/*****************************************************************************/ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2490 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2491 |
/** Create a VoE handler. |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2492 |
*/ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2493 |
static int ec_ioctl_sc_create_voe_handler( |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2494 |
ec_master_t *master, /**< EtherCAT master. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2495 |
void *arg, /**< ioctl() argument. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2496 |
ec_ioctl_context_t *ctx /**< Private data structure of file handle. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2497 |
) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2498 |
{ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2499 |
ec_ioctl_voe_t data; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2500 |
ec_slave_config_t *sc; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2501 |
ec_voe_handler_t *voe; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2502 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2503 |
if (unlikely(!ctx->requested)) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2504 |
return -EPERM; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2505 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2506 |
if (copy_from_user(&data, (void __user *) arg, sizeof(data))) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2507 |
return -EFAULT; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2508 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2509 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2510 |
data.voe_index = 0; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2511 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2512 |
if (down_interruptible(&master->master_sem)) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2513 |
return -EINTR; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2514 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2515 |
sc = ec_master_get_config(master, data.config_index); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2516 |
if (!sc) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2517 |
up(&master->master_sem); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2518 |
return -ENOENT; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2519 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2520 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2521 |
list_for_each_entry(voe, &sc->voe_handlers, list) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2522 |
data.voe_index++; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2523 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2524 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2525 |
up(&master->master_sem); /** \fixme sc could be invalidated */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2526 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2527 |
voe = ecrt_slave_config_create_voe_handler_err(sc, data.size); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2528 |
if (IS_ERR(voe)) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2529 |
return PTR_ERR(voe); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2530 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2531 |
if (copy_to_user((void __user *) arg, &data, sizeof(data))) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2532 |
return -EFAULT; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2533 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2534 |
return 0; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2535 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2536 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2537 |
/*****************************************************************************/ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2538 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2539 |
/** Get the slave configuration's state. |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2540 |
*/ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2541 |
static int ec_ioctl_sc_state( |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2542 |
ec_master_t *master, /**< EtherCAT master. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2543 |
void *arg, /**< ioctl() argument. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2544 |
ec_ioctl_context_t *ctx /**< Private data structure of file handle. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2545 |
) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2546 |
{ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2547 |
ec_ioctl_sc_state_t data; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2548 |
const ec_slave_config_t *sc; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2549 |
ec_slave_config_state_t state; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2550 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2551 |
if (unlikely(!ctx->requested)) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2552 |
return -EPERM; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2553 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2554 |
if (copy_from_user(&data, (void __user *) arg, sizeof(data))) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2555 |
return -EFAULT; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2556 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2557 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2558 |
/* no locking of master_sem needed, because sc will not be deleted in the |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2559 |
* meantime. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2560 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2561 |
if (!(sc = ec_master_get_config_const(master, data.config_index))) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2562 |
return -ENOENT; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2563 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2564 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2565 |
ecrt_slave_config_state(sc, &state); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2566 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2567 |
if (copy_to_user((void __user *) data.state, &state, sizeof(state))) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2568 |
return -EFAULT; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2569 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2570 |
return 0; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2571 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2572 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2573 |
/*****************************************************************************/ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2574 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2575 |
/** Configures an IDN. |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2576 |
*/ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2577 |
static int ec_ioctl_sc_idn( |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2578 |
ec_master_t *master, /**< EtherCAT master. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2579 |
void *arg, /**< ioctl() argument. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2580 |
ec_ioctl_context_t *ctx /**< Private data structure of file handle. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2581 |
) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2582 |
{ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2583 |
ec_ioctl_sc_idn_t ioctl; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2584 |
ec_slave_config_t *sc; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2585 |
uint8_t *data = NULL; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2586 |
int ret; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2587 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2588 |
if (unlikely(!ctx->requested)) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2589 |
return -EPERM; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2590 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2591 |
if (copy_from_user(&ioctl, (void __user *) arg, sizeof(ioctl))) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2592 |
return -EFAULT; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2593 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2594 |
if (!ioctl.size) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2595 |
return -EINVAL; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2596 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2597 |
if (!(data = kmalloc(ioctl.size, GFP_KERNEL))) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2598 |
return -ENOMEM; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2599 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2600 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2601 |
if (copy_from_user(data, (void __user *) ioctl.data, ioctl.size)) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2602 |
kfree(data); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2603 |
return -EFAULT; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2604 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2605 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2606 |
if (down_interruptible(&master->master_sem)) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2607 |
kfree(data); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2608 |
return -EINTR; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2609 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2610 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2611 |
if (!(sc = ec_master_get_config(master, ioctl.config_index))) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2612 |
up(&master->master_sem); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2613 |
kfree(data); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2614 |
return -ENOENT; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2615 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2616 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2617 |
up(&master->master_sem); /** \fixme sc could be invalidated */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2618 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2619 |
ret = ecrt_slave_config_idn( |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2620 |
sc, ioctl.drive_no, ioctl.idn, ioctl.al_state, data, ioctl.size); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2621 |
kfree(data); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2622 |
return ret; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2623 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2624 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2625 |
/*****************************************************************************/ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2626 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2627 |
/** Gets the domain's offset in the total process data. |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2628 |
*/ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2629 |
static int ec_ioctl_domain_offset( |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2630 |
ec_master_t *master, /**< EtherCAT master. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2631 |
void *arg, /**< ioctl() argument. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2632 |
ec_ioctl_context_t *ctx /**< Private data structure of file handle. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2633 |
) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2634 |
{ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2635 |
int offset = 0; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2636 |
const ec_domain_t *domain; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2637 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2638 |
if (unlikely(!ctx->requested)) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2639 |
return -EPERM; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2640 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2641 |
if (down_interruptible(&master->master_sem)) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2642 |
return -EINTR; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2643 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2644 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2645 |
list_for_each_entry(domain, &master->domains, list) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2646 |
if (domain->index == (unsigned int) arg) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2647 |
up(&master->master_sem); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2648 |
return offset; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2649 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2650 |
offset += ecrt_domain_size(domain); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2651 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2652 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2653 |
up(&master->master_sem); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2654 |
return -ENOENT; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2655 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2656 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2657 |
/*****************************************************************************/ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2658 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2659 |
/** Process the domain. |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2660 |
*/ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2661 |
static int ec_ioctl_domain_process( |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2662 |
ec_master_t *master, /**< EtherCAT master. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2663 |
void *arg, /**< ioctl() argument. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2664 |
ec_ioctl_context_t *ctx /**< Private data structure of file handle. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2665 |
) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2666 |
{ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2667 |
ec_domain_t *domain; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2668 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2669 |
if (unlikely(!ctx->requested)) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2670 |
return -EPERM; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2671 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2672 |
/* no locking of master_sem needed, because domain will not be deleted in |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2673 |
* the meantime. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2674 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2675 |
if (!(domain = ec_master_find_domain(master, (unsigned int) arg))) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2676 |
return -ENOENT; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2677 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2678 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2679 |
ecrt_domain_process(domain); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2680 |
return 0; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2681 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2682 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2683 |
/*****************************************************************************/ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2684 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2685 |
/** Queue the domain. |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2686 |
*/ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2687 |
static int ec_ioctl_domain_queue( |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2688 |
ec_master_t *master, /**< EtherCAT master. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2689 |
void *arg, /**< ioctl() argument. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2690 |
ec_ioctl_context_t *ctx /**< Private data structure of file handle. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2691 |
) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2692 |
{ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2693 |
ec_domain_t *domain; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2694 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2695 |
if (unlikely(!ctx->requested)) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2696 |
return -EPERM; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2697 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2698 |
/* no locking of master_sem needed, because domain will not be deleted in |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2699 |
* the meantime. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2700 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2701 |
if (!(domain = ec_master_find_domain(master, (unsigned int) arg))) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2702 |
return -ENOENT; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2703 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2704 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2705 |
ecrt_domain_queue(domain); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2706 |
return 0; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2707 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2708 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2709 |
/*****************************************************************************/ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2710 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2711 |
/** Get the domain state. |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2712 |
*/ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2713 |
static int ec_ioctl_domain_state( |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2714 |
ec_master_t *master, /**< EtherCAT master. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2715 |
void *arg, /**< ioctl() argument. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2716 |
ec_ioctl_context_t *ctx /**< Private data structure of file handle. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2717 |
) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2718 |
{ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2719 |
ec_ioctl_domain_state_t data; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2720 |
const ec_domain_t *domain; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2721 |
ec_domain_state_t state; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2722 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2723 |
if (unlikely(!ctx->requested)) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2724 |
return -EPERM; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2725 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2726 |
if (copy_from_user(&data, (void __user *) arg, sizeof(data))) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2727 |
return -EFAULT; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2728 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2729 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2730 |
/* no locking of master_sem needed, because domain will not be deleted in |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2731 |
* the meantime. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2732 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2733 |
if (!(domain = ec_master_find_domain_const(master, data.domain_index))) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2734 |
return -ENOENT; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2735 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2736 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2737 |
ecrt_domain_state(domain, &state); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2738 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2739 |
if (copy_to_user((void __user *) data.state, &state, sizeof(state))) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2740 |
return -EFAULT; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2741 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2742 |
return 0; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2743 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2744 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2745 |
/*****************************************************************************/ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2746 |
|
2434
fa52128477f6
Added ecrt_sdo_request_index() method to change index and subindex.
Florian Pose <fp@igh-essen.com>
parents:
2433
diff
changeset
|
2747 |
/** Sets an SDO request's SDO index and subindex. |
fa52128477f6
Added ecrt_sdo_request_index() method to change index and subindex.
Florian Pose <fp@igh-essen.com>
parents:
2433
diff
changeset
|
2748 |
*/ |
fa52128477f6
Added ecrt_sdo_request_index() method to change index and subindex.
Florian Pose <fp@igh-essen.com>
parents:
2433
diff
changeset
|
2749 |
static int ec_ioctl_sdo_request_index( |
fa52128477f6
Added ecrt_sdo_request_index() method to change index and subindex.
Florian Pose <fp@igh-essen.com>
parents:
2433
diff
changeset
|
2750 |
ec_master_t *master, /**< EtherCAT master. */ |
fa52128477f6
Added ecrt_sdo_request_index() method to change index and subindex.
Florian Pose <fp@igh-essen.com>
parents:
2433
diff
changeset
|
2751 |
void *arg, /**< ioctl() argument. */ |
fa52128477f6
Added ecrt_sdo_request_index() method to change index and subindex.
Florian Pose <fp@igh-essen.com>
parents:
2433
diff
changeset
|
2752 |
ec_ioctl_context_t *ctx /**< Private data structure of file handle. */ |
fa52128477f6
Added ecrt_sdo_request_index() method to change index and subindex.
Florian Pose <fp@igh-essen.com>
parents:
2433
diff
changeset
|
2753 |
) |
fa52128477f6
Added ecrt_sdo_request_index() method to change index and subindex.
Florian Pose <fp@igh-essen.com>
parents:
2433
diff
changeset
|
2754 |
{ |
fa52128477f6
Added ecrt_sdo_request_index() method to change index and subindex.
Florian Pose <fp@igh-essen.com>
parents:
2433
diff
changeset
|
2755 |
ec_ioctl_sdo_request_t data; |
fa52128477f6
Added ecrt_sdo_request_index() method to change index and subindex.
Florian Pose <fp@igh-essen.com>
parents:
2433
diff
changeset
|
2756 |
ec_slave_config_t *sc; |
fa52128477f6
Added ecrt_sdo_request_index() method to change index and subindex.
Florian Pose <fp@igh-essen.com>
parents:
2433
diff
changeset
|
2757 |
ec_sdo_request_t *req; |
fa52128477f6
Added ecrt_sdo_request_index() method to change index and subindex.
Florian Pose <fp@igh-essen.com>
parents:
2433
diff
changeset
|
2758 |
|
fa52128477f6
Added ecrt_sdo_request_index() method to change index and subindex.
Florian Pose <fp@igh-essen.com>
parents:
2433
diff
changeset
|
2759 |
if (unlikely(!ctx->requested)) |
fa52128477f6
Added ecrt_sdo_request_index() method to change index and subindex.
Florian Pose <fp@igh-essen.com>
parents:
2433
diff
changeset
|
2760 |
return -EPERM; |
fa52128477f6
Added ecrt_sdo_request_index() method to change index and subindex.
Florian Pose <fp@igh-essen.com>
parents:
2433
diff
changeset
|
2761 |
|
fa52128477f6
Added ecrt_sdo_request_index() method to change index and subindex.
Florian Pose <fp@igh-essen.com>
parents:
2433
diff
changeset
|
2762 |
if (copy_from_user(&data, (void __user *) arg, sizeof(data))) |
fa52128477f6
Added ecrt_sdo_request_index() method to change index and subindex.
Florian Pose <fp@igh-essen.com>
parents:
2433
diff
changeset
|
2763 |
return -EFAULT; |
fa52128477f6
Added ecrt_sdo_request_index() method to change index and subindex.
Florian Pose <fp@igh-essen.com>
parents:
2433
diff
changeset
|
2764 |
|
fa52128477f6
Added ecrt_sdo_request_index() method to change index and subindex.
Florian Pose <fp@igh-essen.com>
parents:
2433
diff
changeset
|
2765 |
/* no locking of master_sem needed, because neither sc nor req will not be |
fa52128477f6
Added ecrt_sdo_request_index() method to change index and subindex.
Florian Pose <fp@igh-essen.com>
parents:
2433
diff
changeset
|
2766 |
* deleted in the meantime. */ |
fa52128477f6
Added ecrt_sdo_request_index() method to change index and subindex.
Florian Pose <fp@igh-essen.com>
parents:
2433
diff
changeset
|
2767 |
|
fa52128477f6
Added ecrt_sdo_request_index() method to change index and subindex.
Florian Pose <fp@igh-essen.com>
parents:
2433
diff
changeset
|
2768 |
if (!(sc = ec_master_get_config(master, data.config_index))) { |
fa52128477f6
Added ecrt_sdo_request_index() method to change index and subindex.
Florian Pose <fp@igh-essen.com>
parents:
2433
diff
changeset
|
2769 |
return -ENOENT; |
fa52128477f6
Added ecrt_sdo_request_index() method to change index and subindex.
Florian Pose <fp@igh-essen.com>
parents:
2433
diff
changeset
|
2770 |
} |
fa52128477f6
Added ecrt_sdo_request_index() method to change index and subindex.
Florian Pose <fp@igh-essen.com>
parents:
2433
diff
changeset
|
2771 |
|
fa52128477f6
Added ecrt_sdo_request_index() method to change index and subindex.
Florian Pose <fp@igh-essen.com>
parents:
2433
diff
changeset
|
2772 |
if (!(req = ec_slave_config_find_sdo_request(sc, data.request_index))) { |
fa52128477f6
Added ecrt_sdo_request_index() method to change index and subindex.
Florian Pose <fp@igh-essen.com>
parents:
2433
diff
changeset
|
2773 |
return -ENOENT; |
fa52128477f6
Added ecrt_sdo_request_index() method to change index and subindex.
Florian Pose <fp@igh-essen.com>
parents:
2433
diff
changeset
|
2774 |
} |
fa52128477f6
Added ecrt_sdo_request_index() method to change index and subindex.
Florian Pose <fp@igh-essen.com>
parents:
2433
diff
changeset
|
2775 |
|
fa52128477f6
Added ecrt_sdo_request_index() method to change index and subindex.
Florian Pose <fp@igh-essen.com>
parents:
2433
diff
changeset
|
2776 |
ecrt_sdo_request_index(req, data.sdo_index, data.sdo_subindex); |
fa52128477f6
Added ecrt_sdo_request_index() method to change index and subindex.
Florian Pose <fp@igh-essen.com>
parents:
2433
diff
changeset
|
2777 |
return 0; |
fa52128477f6
Added ecrt_sdo_request_index() method to change index and subindex.
Florian Pose <fp@igh-essen.com>
parents:
2433
diff
changeset
|
2778 |
} |
fa52128477f6
Added ecrt_sdo_request_index() method to change index and subindex.
Florian Pose <fp@igh-essen.com>
parents:
2433
diff
changeset
|
2779 |
|
fa52128477f6
Added ecrt_sdo_request_index() method to change index and subindex.
Florian Pose <fp@igh-essen.com>
parents:
2433
diff
changeset
|
2780 |
/*****************************************************************************/ |
fa52128477f6
Added ecrt_sdo_request_index() method to change index and subindex.
Florian Pose <fp@igh-essen.com>
parents:
2433
diff
changeset
|
2781 |
|
2433
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2782 |
/** Sets an SDO request's timeout. |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2783 |
*/ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2784 |
static int ec_ioctl_sdo_request_timeout( |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2785 |
ec_master_t *master, /**< EtherCAT master. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2786 |
void *arg, /**< ioctl() argument. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2787 |
ec_ioctl_context_t *ctx /**< Private data structure of file handle. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2788 |
) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2789 |
{ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2790 |
ec_ioctl_sdo_request_t data; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2791 |
ec_slave_config_t *sc; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2792 |
ec_sdo_request_t *req; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2793 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2794 |
if (unlikely(!ctx->requested)) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2795 |
return -EPERM; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2796 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2797 |
if (copy_from_user(&data, (void __user *) arg, sizeof(data))) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2798 |
return -EFAULT; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2799 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2800 |
/* no locking of master_sem needed, because neither sc nor req will not be |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2801 |
* deleted in the meantime. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2802 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2803 |
if (!(sc = ec_master_get_config(master, data.config_index))) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2804 |
return -ENOENT; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2805 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2806 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2807 |
if (!(req = ec_slave_config_find_sdo_request(sc, data.request_index))) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2808 |
return -ENOENT; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2809 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2810 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2811 |
ecrt_sdo_request_timeout(req, data.timeout); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2812 |
return 0; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2813 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2814 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2815 |
/*****************************************************************************/ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2816 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2817 |
/** Gets an SDO request's state. |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2818 |
*/ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2819 |
static int ec_ioctl_sdo_request_state( |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2820 |
ec_master_t *master, /**< EtherCAT master. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2821 |
void *arg, /**< ioctl() argument. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2822 |
ec_ioctl_context_t *ctx /**< Private data structure of file handle. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2823 |
) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2824 |
{ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2825 |
ec_ioctl_sdo_request_t data; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2826 |
ec_slave_config_t *sc; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2827 |
ec_sdo_request_t *req; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2828 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2829 |
if (unlikely(!ctx->requested)) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2830 |
return -EPERM; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2831 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2832 |
if (copy_from_user(&data, (void __user *) arg, sizeof(data))) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2833 |
return -EFAULT; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2834 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2835 |
/* no locking of master_sem needed, because neither sc nor req will not be |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2836 |
* deleted in the meantime. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2837 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2838 |
if (!(sc = ec_master_get_config(master, data.config_index))) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2839 |
return -ENOENT; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2840 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2841 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2842 |
if (!(req = ec_slave_config_find_sdo_request(sc, data.request_index))) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2843 |
return -ENOENT; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2844 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2845 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2846 |
data.state = ecrt_sdo_request_state(req); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2847 |
if (data.state == EC_REQUEST_SUCCESS && req->dir == EC_DIR_INPUT) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2848 |
data.size = ecrt_sdo_request_data_size(req); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2849 |
else |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2850 |
data.size = 0; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2851 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2852 |
if (copy_to_user((void __user *) arg, &data, sizeof(data))) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2853 |
return -EFAULT; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2854 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2855 |
return 0; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2856 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2857 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2858 |
/*****************************************************************************/ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2859 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2860 |
/** Starts an SDO read operation. |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2861 |
*/ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2862 |
static int ec_ioctl_sdo_request_read( |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2863 |
ec_master_t *master, /**< EtherCAT master. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2864 |
void *arg, /**< ioctl() argument. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2865 |
ec_ioctl_context_t *ctx /**< Private data structure of file handle. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2866 |
) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2867 |
{ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2868 |
ec_ioctl_sdo_request_t data; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2869 |
ec_slave_config_t *sc; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2870 |
ec_sdo_request_t *req; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2871 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2872 |
if (unlikely(!ctx->requested)) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2873 |
return -EPERM; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2874 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2875 |
if (copy_from_user(&data, (void __user *) arg, sizeof(data))) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2876 |
return -EFAULT; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2877 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2878 |
/* no locking of master_sem needed, because neither sc nor req will not be |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2879 |
* deleted in the meantime. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2880 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2881 |
if (!(sc = ec_master_get_config(master, data.config_index))) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2882 |
return -ENOENT; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2883 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2884 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2885 |
if (!(req = ec_slave_config_find_sdo_request(sc, data.request_index))) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2886 |
return -ENOENT; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2887 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2888 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2889 |
ecrt_sdo_request_read(req); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2890 |
return 0; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2891 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2892 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2893 |
/*****************************************************************************/ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2894 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2895 |
/** Starts an SDO write operation. |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2896 |
*/ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2897 |
static int ec_ioctl_sdo_request_write( |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2898 |
ec_master_t *master, /**< EtherCAT master. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2899 |
void *arg, /**< ioctl() argument. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2900 |
ec_ioctl_context_t *ctx /**< Private data structure of file handle. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2901 |
) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2902 |
{ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2903 |
ec_ioctl_sdo_request_t data; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2904 |
ec_slave_config_t *sc; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2905 |
ec_sdo_request_t *req; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2906 |
int ret; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2907 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2908 |
if (unlikely(!ctx->requested)) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2909 |
return -EPERM; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2910 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2911 |
if (copy_from_user(&data, (void __user *) arg, sizeof(data))) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2912 |
return -EFAULT; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2913 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2914 |
if (!data.size) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2915 |
EC_MASTER_ERR(master, "SDO download: Data size may not be zero!\n"); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2916 |
return -EINVAL; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2917 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2918 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2919 |
/* no locking of master_sem needed, because neither sc nor req will not be |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2920 |
* deleted in the meantime. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2921 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2922 |
if (!(sc = ec_master_get_config(master, data.config_index))) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2923 |
return -ENOENT; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2924 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2925 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2926 |
if (!(req = ec_slave_config_find_sdo_request(sc, data.request_index))) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2927 |
return -ENOENT; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2928 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2929 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2930 |
ret = ec_sdo_request_alloc(req, data.size); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2931 |
if (ret) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2932 |
return ret; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2933 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2934 |
if (copy_from_user(req->data, (void __user *) data.data, data.size)) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2935 |
return -EFAULT; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2936 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2937 |
req->data_size = data.size; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2938 |
ecrt_sdo_request_write(req); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2939 |
return 0; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2940 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2941 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2942 |
/*****************************************************************************/ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2943 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2944 |
/** Read SDO data. |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2945 |
*/ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2946 |
static int ec_ioctl_sdo_request_data( |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2947 |
ec_master_t *master, /**< EtherCAT master. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2948 |
void *arg, /**< ioctl() argument. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2949 |
ec_ioctl_context_t *ctx /**< Private data structure of file handle. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2950 |
) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2951 |
{ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2952 |
ec_ioctl_sdo_request_t data; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2953 |
ec_slave_config_t *sc; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2954 |
ec_sdo_request_t *req; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2955 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2956 |
if (unlikely(!ctx->requested)) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2957 |
return -EPERM; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2958 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2959 |
if (copy_from_user(&data, (void __user *) arg, sizeof(data))) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2960 |
return -EFAULT; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2961 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2962 |
/* no locking of master_sem needed, because neither sc nor req will not be |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2963 |
* deleted in the meantime. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2964 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2965 |
if (!(sc = ec_master_get_config(master, data.config_index))) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2966 |
return -ENOENT; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2967 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2968 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2969 |
if (!(req = ec_slave_config_find_sdo_request(sc, data.request_index))) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2970 |
return -ENOENT; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2971 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2972 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2973 |
if (copy_to_user((void __user *) data.data, ecrt_sdo_request_data(req), |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2974 |
ecrt_sdo_request_data_size(req))) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2975 |
return -EFAULT; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2976 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2977 |
return 0; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2978 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2979 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2980 |
/*****************************************************************************/ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2981 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2982 |
/** Sets the VoE send header. |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2983 |
*/ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2984 |
static int ec_ioctl_voe_send_header( |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2985 |
ec_master_t *master, /**< EtherCAT master. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2986 |
void *arg, /**< ioctl() argument. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2987 |
ec_ioctl_context_t *ctx /**< Private data structure of file handle. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2988 |
) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2989 |
{ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2990 |
ec_ioctl_voe_t data; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2991 |
ec_slave_config_t *sc; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2992 |
ec_voe_handler_t *voe; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2993 |
uint32_t vendor_id; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2994 |
uint16_t vendor_type; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2995 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2996 |
if (unlikely(!ctx->requested)) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2997 |
return -EPERM; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2998 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2999 |
if (copy_from_user(&data, (void __user *) arg, sizeof(data))) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3000 |
return -EFAULT; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3001 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3002 |
if (get_user(vendor_id, data.vendor_id)) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3003 |
return -EFAULT; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3004 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3005 |
if (get_user(vendor_type, data.vendor_type)) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3006 |
return -EFAULT; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3007 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3008 |
/* no locking of master_sem needed, because neither sc nor voe will not be |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3009 |
* deleted in the meantime. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3010 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3011 |
if (!(sc = ec_master_get_config(master, data.config_index))) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3012 |
return -ENOENT; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3013 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3014 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3015 |
if (!(voe = ec_slave_config_find_voe_handler(sc, data.voe_index))) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3016 |
return -ENOENT; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3017 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3018 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3019 |
ecrt_voe_handler_send_header(voe, vendor_id, vendor_type); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3020 |
return 0; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3021 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3022 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3023 |
/*****************************************************************************/ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3024 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3025 |
/** Gets the received VoE header. |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3026 |
*/ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3027 |
static int ec_ioctl_voe_rec_header( |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3028 |
ec_master_t *master, /**< EtherCAT master. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3029 |
void *arg, /**< ioctl() argument. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3030 |
ec_ioctl_context_t *ctx /**< Private data structure of file handle. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3031 |
) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3032 |
{ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3033 |
ec_ioctl_voe_t data; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3034 |
ec_slave_config_t *sc; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3035 |
ec_voe_handler_t *voe; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3036 |
uint32_t vendor_id; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3037 |
uint16_t vendor_type; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3038 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3039 |
if (unlikely(!ctx->requested)) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3040 |
return -EPERM; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3041 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3042 |
if (copy_from_user(&data, (void __user *) arg, sizeof(data))) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3043 |
return -EFAULT; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3044 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3045 |
/* no locking of master_sem needed, because neither sc nor voe will not be |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3046 |
* deleted in the meantime. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3047 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3048 |
if (!(sc = ec_master_get_config(master, data.config_index))) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3049 |
return -ENOENT; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3050 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3051 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3052 |
if (!(voe = ec_slave_config_find_voe_handler(sc, data.voe_index))) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3053 |
return -ENOENT; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3054 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3055 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3056 |
ecrt_voe_handler_received_header(voe, &vendor_id, &vendor_type); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3057 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3058 |
if (likely(data.vendor_id)) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3059 |
if (put_user(vendor_id, data.vendor_id)) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3060 |
return -EFAULT; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3061 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3062 |
if (likely(data.vendor_type)) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3063 |
if (put_user(vendor_type, data.vendor_type)) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3064 |
return -EFAULT; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3065 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3066 |
return 0; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3067 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3068 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3069 |
/*****************************************************************************/ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3070 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3071 |
/** Starts a VoE read operation. |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3072 |
*/ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3073 |
static int ec_ioctl_voe_read( |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3074 |
ec_master_t *master, /**< EtherCAT master. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3075 |
void *arg, /**< ioctl() argument. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3076 |
ec_ioctl_context_t *ctx /**< Private data structure of file handle. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3077 |
) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3078 |
{ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3079 |
ec_ioctl_voe_t data; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3080 |
ec_slave_config_t *sc; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3081 |
ec_voe_handler_t *voe; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3082 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3083 |
if (unlikely(!ctx->requested)) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3084 |
return -EPERM; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3085 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3086 |
if (copy_from_user(&data, (void __user *) arg, sizeof(data))) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3087 |
return -EFAULT; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3088 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3089 |
/* no locking of master_sem needed, because neither sc nor voe will not be |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3090 |
* deleted in the meantime. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3091 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3092 |
if (!(sc = ec_master_get_config(master, data.config_index))) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3093 |
return -ENOENT; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3094 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3095 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3096 |
if (!(voe = ec_slave_config_find_voe_handler(sc, data.voe_index))) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3097 |
return -ENOENT; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3098 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3099 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3100 |
ecrt_voe_handler_read(voe); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3101 |
return 0; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3102 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3103 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3104 |
/*****************************************************************************/ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3105 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3106 |
/** Starts a VoE read operation without sending a sync message first. |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3107 |
*/ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3108 |
static int ec_ioctl_voe_read_nosync( |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3109 |
ec_master_t *master, /**< EtherCAT master. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3110 |
void *arg, /**< ioctl() argument. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3111 |
ec_ioctl_context_t *ctx /**< Private data structure of file handle. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3112 |
) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3113 |
{ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3114 |
ec_ioctl_voe_t data; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3115 |
ec_slave_config_t *sc; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3116 |
ec_voe_handler_t *voe; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3117 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3118 |
if (unlikely(!ctx->requested)) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3119 |
return -EPERM; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3120 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3121 |
if (copy_from_user(&data, (void __user *) arg, sizeof(data))) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3122 |
return -EFAULT; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3123 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3124 |
/* no locking of master_sem needed, because neither sc nor voe will not be |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3125 |
* deleted in the meantime. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3126 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3127 |
if (!(sc = ec_master_get_config(master, data.config_index))) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3128 |
return -ENOENT; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3129 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3130 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3131 |
if (!(voe = ec_slave_config_find_voe_handler(sc, data.voe_index))) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3132 |
return -ENOENT; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3133 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3134 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3135 |
ecrt_voe_handler_read_nosync(voe); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3136 |
return 0; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3137 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3138 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3139 |
/*****************************************************************************/ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3140 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3141 |
/** Starts a VoE write operation. |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3142 |
*/ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3143 |
static int ec_ioctl_voe_write( |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3144 |
ec_master_t *master, /**< EtherCAT master. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3145 |
void *arg, /**< ioctl() argument. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3146 |
ec_ioctl_context_t *ctx /**< Private data structure of file handle. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3147 |
) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3148 |
{ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3149 |
ec_ioctl_voe_t data; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3150 |
ec_slave_config_t *sc; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3151 |
ec_voe_handler_t *voe; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3152 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3153 |
if (unlikely(!ctx->requested)) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3154 |
return -EPERM; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3155 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3156 |
if (copy_from_user(&data, (void __user *) arg, sizeof(data))) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3157 |
return -EFAULT; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3158 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3159 |
/* no locking of master_sem needed, because neither sc nor voe will not be |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3160 |
* deleted in the meantime. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3161 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3162 |
if (!(sc = ec_master_get_config(master, data.config_index))) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3163 |
return -ENOENT; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3164 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3165 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3166 |
if (!(voe = ec_slave_config_find_voe_handler(sc, data.voe_index))) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3167 |
return -ENOENT; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3168 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3169 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3170 |
if (data.size) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3171 |
if (data.size > ec_voe_handler_mem_size(voe)) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3172 |
return -EOVERFLOW; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3173 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3174 |
if (copy_from_user(ecrt_voe_handler_data(voe), |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3175 |
(void __user *) data.data, data.size)) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3176 |
return -EFAULT; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3177 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3178 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3179 |
ecrt_voe_handler_write(voe, data.size); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3180 |
return 0; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3181 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3182 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3183 |
/*****************************************************************************/ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3184 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3185 |
/** Executes the VoE state machine. |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3186 |
*/ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3187 |
static int ec_ioctl_voe_exec( |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3188 |
ec_master_t *master, /**< EtherCAT master. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3189 |
void *arg, /**< ioctl() argument. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3190 |
ec_ioctl_context_t *ctx /**< Private data structure of file handle. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3191 |
) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3192 |
{ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3193 |
ec_ioctl_voe_t data; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3194 |
ec_slave_config_t *sc; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3195 |
ec_voe_handler_t *voe; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3196 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3197 |
if (unlikely(!ctx->requested)) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3198 |
return -EPERM; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3199 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3200 |
if (copy_from_user(&data, (void __user *) arg, sizeof(data))) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3201 |
return -EFAULT; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3202 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3203 |
/* no locking of master_sem needed, because neither sc nor voe will not be |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3204 |
* deleted in the meantime. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3205 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3206 |
if (!(sc = ec_master_get_config(master, data.config_index))) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3207 |
return -ENOENT; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3208 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3209 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3210 |
if (!(voe = ec_slave_config_find_voe_handler(sc, data.voe_index))) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3211 |
return -ENOENT; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3212 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3213 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3214 |
data.state = ecrt_voe_handler_execute(voe); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3215 |
if (data.state == EC_REQUEST_SUCCESS && voe->dir == EC_DIR_INPUT) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3216 |
data.size = ecrt_voe_handler_data_size(voe); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3217 |
else |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3218 |
data.size = 0; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3219 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3220 |
if (copy_to_user((void __user *) arg, &data, sizeof(data))) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3221 |
return -EFAULT; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3222 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3223 |
return 0; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3224 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3225 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3226 |
/*****************************************************************************/ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3227 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3228 |
/** Reads the received VoE data. |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3229 |
*/ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3230 |
static int ec_ioctl_voe_data( |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3231 |
ec_master_t *master, /**< EtherCAT master. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3232 |
void *arg, /**< ioctl() argument. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3233 |
ec_ioctl_context_t *ctx /**< Private data structure of file handle. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3234 |
) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3235 |
{ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3236 |
ec_ioctl_voe_t data; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3237 |
ec_slave_config_t *sc; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3238 |
ec_voe_handler_t *voe; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3239 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3240 |
if (unlikely(!ctx->requested)) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3241 |
return -EPERM; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3242 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3243 |
if (copy_from_user(&data, (void __user *) arg, sizeof(data))) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3244 |
return -EFAULT; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3245 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3246 |
/* no locking of master_sem needed, because neither sc nor voe will not be |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3247 |
* deleted in the meantime. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3248 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3249 |
if (!(sc = ec_master_get_config(master, data.config_index))) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3250 |
return -ENOENT; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3251 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3252 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3253 |
if (!(voe = ec_slave_config_find_voe_handler(sc, data.voe_index))) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3254 |
return -ENOENT; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3255 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3256 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3257 |
if (copy_to_user((void __user *) data.data, ecrt_voe_handler_data(voe), |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3258 |
ecrt_voe_handler_data_size(voe))) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3259 |
return -EFAULT; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3260 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3261 |
return 0; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3262 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3263 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3264 |
/*****************************************************************************/ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3265 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3266 |
/** Read a file from a slave via FoE. |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3267 |
*/ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3268 |
static int ec_ioctl_slave_foe_read( |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3269 |
ec_master_t *master, /**< EtherCAT master. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3270 |
void *arg /**< ioctl() argument. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3271 |
) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3272 |
{ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3273 |
ec_ioctl_slave_foe_t data; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3274 |
ec_master_foe_request_t request; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3275 |
int retval; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3276 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3277 |
if (copy_from_user(&data, (void __user *) arg, sizeof(data))) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3278 |
return -EFAULT; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3279 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3280 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3281 |
ec_foe_request_init(&request.req, data.file_name); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3282 |
ec_foe_request_read(&request.req); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3283 |
ec_foe_request_alloc(&request.req, 10000); // FIXME |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3284 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3285 |
if (down_interruptible(&master->master_sem)) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3286 |
ec_foe_request_clear(&request.req); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3287 |
return -EINTR; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3288 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3289 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3290 |
if (!(request.slave = ec_master_find_slave( |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3291 |
master, 0, data.slave_position))) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3292 |
up(&master->master_sem); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3293 |
ec_foe_request_clear(&request.req); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3294 |
EC_MASTER_ERR(master, "Slave %u does not exist!\n", |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3295 |
data.slave_position); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3296 |
return -EINVAL; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3297 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3298 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3299 |
// schedule request. |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3300 |
list_add_tail(&request.list, &request.slave->foe_requests); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3301 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3302 |
up(&master->master_sem); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3303 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3304 |
EC_SLAVE_DBG(request.slave, 1, "Scheduled FoE read request.\n"); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3305 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3306 |
// wait for processing through FSM |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3307 |
if (wait_event_interruptible(request.slave->foe_queue, |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3308 |
request.req.state != EC_INT_REQUEST_QUEUED)) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3309 |
// interrupted by signal |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3310 |
down(&master->master_sem); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3311 |
if (request.req.state == EC_INT_REQUEST_QUEUED) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3312 |
list_del(&request.list); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3313 |
up(&master->master_sem); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3314 |
ec_foe_request_clear(&request.req); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3315 |
return -EINTR; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3316 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3317 |
// request already processing: interrupt not possible. |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3318 |
up(&master->master_sem); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3319 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3320 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3321 |
// wait until master FSM has finished processing |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3322 |
wait_event(request.slave->foe_queue, |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3323 |
request.req.state != EC_INT_REQUEST_BUSY); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3324 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3325 |
data.result = request.req.result; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3326 |
data.error_code = request.req.error_code; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3327 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3328 |
EC_SLAVE_DBG(request.slave, 1, "Read %zd bytes via FoE" |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3329 |
" (result = 0x%x).\n", request.req.data_size, request.req.result); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3330 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3331 |
if (request.req.state != EC_INT_REQUEST_SUCCESS) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3332 |
data.data_size = 0; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3333 |
retval = -EIO; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3334 |
} else { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3335 |
if (request.req.data_size > data.buffer_size) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3336 |
EC_MASTER_ERR(master, "Buffer too small.\n"); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3337 |
ec_foe_request_clear(&request.req); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3338 |
return -EOVERFLOW; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3339 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3340 |
data.data_size = request.req.data_size; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3341 |
if (copy_to_user((void __user *) data.buffer, |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3342 |
request.req.buffer, data.data_size)) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3343 |
ec_foe_request_clear(&request.req); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3344 |
return -EFAULT; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3345 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3346 |
retval = 0; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3347 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3348 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3349 |
if (__copy_to_user((void __user *) arg, &data, sizeof(data))) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3350 |
retval = -EFAULT; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3351 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3352 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3353 |
EC_SLAVE_DBG(request.slave, 1, "Finished FoE read request.\n"); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3354 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3355 |
ec_foe_request_clear(&request.req); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3356 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3357 |
return retval; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3358 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3359 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3360 |
/*****************************************************************************/ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3361 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3362 |
/** Write a file to a slave via FoE |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3363 |
*/ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3364 |
static int ec_ioctl_slave_foe_write( |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3365 |
ec_master_t *master, /**< EtherCAT master. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3366 |
void *arg /**< ioctl() argument. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3367 |
) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3368 |
{ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3369 |
ec_ioctl_slave_foe_t data; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3370 |
ec_master_foe_request_t request; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3371 |
int retval; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3372 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3373 |
if (copy_from_user(&data, (void __user *) arg, sizeof(data))) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3374 |
return -EFAULT; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3375 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3376 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3377 |
INIT_LIST_HEAD(&request.list); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3378 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3379 |
ec_foe_request_init(&request.req, data.file_name); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3380 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3381 |
if (ec_foe_request_alloc(&request.req, data.buffer_size)) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3382 |
ec_foe_request_clear(&request.req); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3383 |
return -ENOMEM; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3384 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3385 |
if (copy_from_user(request.req.buffer, |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3386 |
(void __user *) data.buffer, data.buffer_size)) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3387 |
ec_foe_request_clear(&request.req); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3388 |
return -EFAULT; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3389 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3390 |
request.req.data_size = data.buffer_size; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3391 |
ec_foe_request_write(&request.req); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3392 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3393 |
if (down_interruptible(&master->master_sem)) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3394 |
ec_foe_request_clear(&request.req); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3395 |
return -EINTR; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3396 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3397 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3398 |
if (!(request.slave = ec_master_find_slave( |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3399 |
master, 0, data.slave_position))) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3400 |
up(&master->master_sem); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3401 |
EC_MASTER_ERR(master, "Slave %u does not exist!\n", |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3402 |
data.slave_position); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3403 |
ec_foe_request_clear(&request.req); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3404 |
return -EINVAL; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3405 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3406 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3407 |
EC_SLAVE_DBG(request.slave, 1, "Scheduling FoE write request.\n"); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3408 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3409 |
// schedule FoE write request. |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3410 |
list_add_tail(&request.list, &request.slave->foe_requests); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3411 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3412 |
up(&master->master_sem); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3413 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3414 |
// wait for processing through FSM |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3415 |
if (wait_event_interruptible(request.slave->foe_queue, |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3416 |
request.req.state != EC_INT_REQUEST_QUEUED)) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3417 |
// interrupted by signal |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3418 |
down(&master->master_sem); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3419 |
if (request.req.state == EC_INT_REQUEST_QUEUED) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3420 |
// abort request |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3421 |
list_del(&request.list); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3422 |
up(&master->master_sem); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3423 |
ec_foe_request_clear(&request.req); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3424 |
return -EINTR; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3425 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3426 |
up(&master->master_sem); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3427 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3428 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3429 |
// wait until master FSM has finished processing |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3430 |
wait_event(request.slave->foe_queue, |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3431 |
request.req.state != EC_INT_REQUEST_BUSY); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3432 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3433 |
data.result = request.req.result; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3434 |
data.error_code = request.req.error_code; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3435 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3436 |
retval = request.req.state == EC_INT_REQUEST_SUCCESS ? 0 : -EIO; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3437 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3438 |
if (__copy_to_user((void __user *) arg, &data, sizeof(data))) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3439 |
retval = -EFAULT; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3440 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3441 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3442 |
ec_foe_request_clear(&request.req); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3443 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3444 |
EC_SLAVE_DBG(request.slave, 1, "Finished FoE write request.\n"); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3445 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3446 |
return retval; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3447 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3448 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3449 |
/*****************************************************************************/ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3450 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3451 |
/** Read an SoE IDN. |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3452 |
*/ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3453 |
static int ec_ioctl_slave_soe_read( |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3454 |
ec_master_t *master, /**< EtherCAT master. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3455 |
void *arg /**< ioctl() argument. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3456 |
) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3457 |
{ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3458 |
ec_ioctl_slave_soe_read_t ioctl; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3459 |
u8 *data; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3460 |
int retval; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3461 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3462 |
if (copy_from_user(&ioctl, (void __user *) arg, sizeof(ioctl))) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3463 |
return -EFAULT; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3464 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3465 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3466 |
data = kmalloc(ioctl.mem_size, GFP_KERNEL); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3467 |
if (!data) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3468 |
EC_MASTER_ERR(master, "Failed to allocate %u bytes of IDN data.\n", |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3469 |
ioctl.mem_size); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3470 |
return -ENOMEM; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3471 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3472 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3473 |
retval = ecrt_master_read_idn(master, ioctl.slave_position, |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3474 |
ioctl.drive_no, ioctl.idn, data, ioctl.mem_size, &ioctl.data_size, |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3475 |
&ioctl.error_code); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3476 |
if (retval) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3477 |
kfree(data); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3478 |
return retval; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3479 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3480 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3481 |
if (copy_to_user((void __user *) ioctl.data, |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3482 |
data, ioctl.data_size)) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3483 |
kfree(data); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3484 |
return -EFAULT; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3485 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3486 |
kfree(data); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3487 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3488 |
if (__copy_to_user((void __user *) arg, &ioctl, sizeof(ioctl))) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3489 |
retval = -EFAULT; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3490 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3491 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3492 |
EC_MASTER_DBG(master, 1, "Finished SoE read request.\n"); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3493 |
return retval; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3494 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3495 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3496 |
/*****************************************************************************/ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3497 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3498 |
/** Write an IDN to a slave via SoE. |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3499 |
*/ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3500 |
static int ec_ioctl_slave_soe_write( |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3501 |
ec_master_t *master, /**< EtherCAT master. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3502 |
void *arg /**< ioctl() argument. */ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3503 |
) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3504 |
{ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3505 |
ec_ioctl_slave_soe_write_t ioctl; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3506 |
u8 *data; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3507 |
int retval; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3508 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3509 |
if (copy_from_user(&ioctl, (void __user *) arg, sizeof(ioctl))) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3510 |
return -EFAULT; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3511 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3512 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3513 |
data = kmalloc(ioctl.data_size, GFP_KERNEL); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3514 |
if (!data) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3515 |
EC_MASTER_ERR(master, "Failed to allocate %zu bytes of IDN data.\n", |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3516 |
ioctl.data_size); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3517 |
return -ENOMEM; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3518 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3519 |
if (copy_from_user(data, (void __user *) ioctl.data, ioctl.data_size)) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3520 |
kfree(data); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3521 |
return -EFAULT; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3522 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3523 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3524 |
retval = ecrt_master_write_idn(master, ioctl.slave_position, |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3525 |
ioctl.drive_no, ioctl.idn, data, ioctl.data_size, |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3526 |
&ioctl.error_code); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3527 |
kfree(data); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3528 |
if (retval) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3529 |
return retval; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3530 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3531 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3532 |
if (__copy_to_user((void __user *) arg, &ioctl, sizeof(ioctl))) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3533 |
retval = -EFAULT; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3534 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3535 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3536 |
EC_MASTER_DBG(master, 1, "Finished SoE write request.\n"); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3537 |
return retval; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3538 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3539 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3540 |
/*****************************************************************************/ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3541 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3542 |
#ifdef EC_IOCTL_RTDM |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3543 |
#define EC_IOCTL ec_ioctl_rtdm |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3544 |
#else |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3545 |
#define EC_IOCTL ec_ioctl |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3546 |
#endif |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3547 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3548 |
/** Called when an ioctl() command is issued. |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3549 |
*/ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3550 |
long EC_IOCTL(ec_master_t *master, ec_ioctl_context_t *ctx, |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3551 |
unsigned int cmd, void *arg) |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3552 |
{ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3553 |
#if DEBUG_LATENCY |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3554 |
cycles_t a = get_cycles(), b; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3555 |
unsigned int t; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3556 |
#endif |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3557 |
int ret; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3558 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3559 |
switch (cmd) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3560 |
case EC_IOCTL_MODULE: |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3561 |
ret = ec_ioctl_module(arg); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3562 |
break; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3563 |
case EC_IOCTL_MASTER: |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3564 |
ret = ec_ioctl_master(master, arg); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3565 |
break; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3566 |
case EC_IOCTL_SLAVE: |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3567 |
ret = ec_ioctl_slave(master, arg); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3568 |
break; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3569 |
case EC_IOCTL_SLAVE_SYNC: |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3570 |
ret = ec_ioctl_slave_sync(master, arg); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3571 |
break; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3572 |
case EC_IOCTL_SLAVE_SYNC_PDO: |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3573 |
ret = ec_ioctl_slave_sync_pdo(master, arg); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3574 |
break; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3575 |
case EC_IOCTL_SLAVE_SYNC_PDO_ENTRY: |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3576 |
ret = ec_ioctl_slave_sync_pdo_entry(master, arg); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3577 |
break; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3578 |
case EC_IOCTL_DOMAIN: |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3579 |
ret = ec_ioctl_domain(master, arg); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3580 |
break; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3581 |
case EC_IOCTL_DOMAIN_FMMU: |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3582 |
ret = ec_ioctl_domain_fmmu(master, arg); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3583 |
break; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3584 |
case EC_IOCTL_DOMAIN_DATA: |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3585 |
ret = ec_ioctl_domain_data(master, arg); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3586 |
break; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3587 |
case EC_IOCTL_MASTER_DEBUG: |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3588 |
if (!ctx->writable) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3589 |
ret = -EPERM; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3590 |
break; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3591 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3592 |
ret = ec_ioctl_master_debug(master, arg); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3593 |
break; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3594 |
case EC_IOCTL_MASTER_RESCAN: |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3595 |
if (!ctx->writable) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3596 |
ret = -EPERM; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3597 |
break; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3598 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3599 |
ret = ec_ioctl_master_rescan(master, arg); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3600 |
break; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3601 |
case EC_IOCTL_SLAVE_STATE: |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3602 |
if (!ctx->writable) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3603 |
ret = -EPERM; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3604 |
break; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3605 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3606 |
ret = ec_ioctl_slave_state(master, arg); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3607 |
break; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3608 |
case EC_IOCTL_SLAVE_SDO: |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3609 |
ret = ec_ioctl_slave_sdo(master, arg); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3610 |
break; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3611 |
case EC_IOCTL_SLAVE_SDO_ENTRY: |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3612 |
ret = ec_ioctl_slave_sdo_entry(master, arg); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3613 |
break; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3614 |
case EC_IOCTL_SLAVE_SDO_UPLOAD: |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3615 |
ret = ec_ioctl_slave_sdo_upload(master, arg); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3616 |
break; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3617 |
case EC_IOCTL_SLAVE_SDO_DOWNLOAD: |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3618 |
if (!ctx->writable) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3619 |
ret = -EPERM; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3620 |
break; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3621 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3622 |
ret = ec_ioctl_slave_sdo_download(master, arg); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3623 |
break; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3624 |
case EC_IOCTL_SLAVE_SII_READ: |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3625 |
ret = ec_ioctl_slave_sii_read(master, arg); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3626 |
break; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3627 |
case EC_IOCTL_SLAVE_SII_WRITE: |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3628 |
if (!ctx->writable) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3629 |
ret = -EPERM; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3630 |
break; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3631 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3632 |
ret = ec_ioctl_slave_sii_write(master, arg); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3633 |
break; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3634 |
case EC_IOCTL_SLAVE_REG_READ: |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3635 |
ret = ec_ioctl_slave_reg_read(master, arg); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3636 |
break; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3637 |
case EC_IOCTL_SLAVE_REG_WRITE: |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3638 |
if (!ctx->writable) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3639 |
ret = -EPERM; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3640 |
break; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3641 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3642 |
ret = ec_ioctl_slave_reg_write(master, arg); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3643 |
break; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3644 |
case EC_IOCTL_SLAVE_FOE_READ: |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3645 |
ret = ec_ioctl_slave_foe_read(master, arg); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3646 |
break; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3647 |
case EC_IOCTL_SLAVE_FOE_WRITE: |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3648 |
if (!ctx->writable) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3649 |
ret = -EPERM; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3650 |
break; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3651 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3652 |
ret = ec_ioctl_slave_foe_write(master, arg); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3653 |
break; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3654 |
case EC_IOCTL_SLAVE_SOE_READ: |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3655 |
ret = ec_ioctl_slave_soe_read(master, arg); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3656 |
break; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3657 |
case EC_IOCTL_SLAVE_SOE_WRITE: |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3658 |
if (!ctx->writable) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3659 |
ret = -EPERM; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3660 |
break; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3661 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3662 |
ret = ec_ioctl_slave_soe_write(master, arg); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3663 |
break; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3664 |
case EC_IOCTL_CONFIG: |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3665 |
ret = ec_ioctl_config(master, arg); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3666 |
break; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3667 |
case EC_IOCTL_CONFIG_PDO: |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3668 |
ret = ec_ioctl_config_pdo(master, arg); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3669 |
break; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3670 |
case EC_IOCTL_CONFIG_PDO_ENTRY: |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3671 |
ret = ec_ioctl_config_pdo_entry(master, arg); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3672 |
break; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3673 |
case EC_IOCTL_CONFIG_SDO: |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3674 |
ret = ec_ioctl_config_sdo(master, arg); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3675 |
break; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3676 |
case EC_IOCTL_CONFIG_IDN: |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3677 |
ret = ec_ioctl_config_idn(master, arg); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3678 |
break; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3679 |
#ifdef EC_EOE |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3680 |
case EC_IOCTL_EOE_HANDLER: |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3681 |
ret = ec_ioctl_eoe_handler(master, arg); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3682 |
break; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3683 |
#endif |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3684 |
case EC_IOCTL_REQUEST: |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3685 |
if (!ctx->writable) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3686 |
ret = -EPERM; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3687 |
break; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3688 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3689 |
ret = ec_ioctl_request(master, arg, ctx); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3690 |
break; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3691 |
case EC_IOCTL_CREATE_DOMAIN: |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3692 |
if (!ctx->writable) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3693 |
ret = -EPERM; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3694 |
break; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3695 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3696 |
ret = ec_ioctl_create_domain(master, arg, ctx); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3697 |
break; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3698 |
case EC_IOCTL_CREATE_SLAVE_CONFIG: |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3699 |
if (!ctx->writable) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3700 |
ret = -EPERM; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3701 |
break; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3702 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3703 |
ret = ec_ioctl_create_slave_config(master, arg, ctx); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3704 |
break; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3705 |
case EC_IOCTL_ACTIVATE: |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3706 |
if (!ctx->writable) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3707 |
ret = -EPERM; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3708 |
break; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3709 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3710 |
ret = ec_ioctl_activate(master, arg, ctx); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3711 |
break; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3712 |
case EC_IOCTL_DEACTIVATE: |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3713 |
if (!ctx->writable) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3714 |
ret = -EPERM; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3715 |
break; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3716 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3717 |
ret = ec_ioctl_deactivate(master, arg, ctx); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3718 |
break; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3719 |
case EC_IOCTL_SEND: |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3720 |
if (!ctx->writable) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3721 |
ret = -EPERM; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3722 |
break; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3723 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3724 |
ret = ec_ioctl_send(master, arg, ctx); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3725 |
break; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3726 |
case EC_IOCTL_RECEIVE: |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3727 |
if (!ctx->writable) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3728 |
ret = -EPERM; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3729 |
break; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3730 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3731 |
ret = ec_ioctl_receive(master, arg, ctx); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3732 |
break; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3733 |
case EC_IOCTL_MASTER_STATE: |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3734 |
ret = ec_ioctl_master_state(master, arg, ctx); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3735 |
break; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3736 |
case EC_IOCTL_MASTER_LINK_STATE: |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3737 |
ret = ec_ioctl_master_link_state(master, arg, ctx); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3738 |
break; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3739 |
case EC_IOCTL_APP_TIME: |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3740 |
if (!ctx->writable) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3741 |
ret = -EPERM; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3742 |
break; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3743 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3744 |
ret = ec_ioctl_app_time(master, arg, ctx); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3745 |
break; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3746 |
case EC_IOCTL_SYNC_REF: |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3747 |
if (!ctx->writable) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3748 |
ret = -EPERM; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3749 |
break; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3750 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3751 |
ret = ec_ioctl_sync_ref(master, arg, ctx); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3752 |
break; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3753 |
case EC_IOCTL_SYNC_SLAVES: |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3754 |
if (!ctx->writable) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3755 |
ret = -EPERM; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3756 |
break; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3757 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3758 |
ret = ec_ioctl_sync_slaves(master, arg, ctx); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3759 |
break; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3760 |
case EC_IOCTL_SYNC_MON_QUEUE: |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3761 |
if (!ctx->writable) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3762 |
ret = -EPERM; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3763 |
break; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3764 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3765 |
ret = ec_ioctl_sync_mon_queue(master, arg, ctx); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3766 |
break; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3767 |
case EC_IOCTL_SYNC_MON_PROCESS: |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3768 |
if (!ctx->writable) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3769 |
ret = -EPERM; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3770 |
break; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3771 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3772 |
ret = ec_ioctl_sync_mon_process(master, arg, ctx); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3773 |
break; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3774 |
case EC_IOCTL_RESET: |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3775 |
if (!ctx->writable) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3776 |
ret = -EPERM; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3777 |
break; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3778 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3779 |
ret = ec_ioctl_reset(master, arg, ctx); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3780 |
break; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3781 |
case EC_IOCTL_SC_SYNC: |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3782 |
if (!ctx->writable) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3783 |
ret = -EPERM; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3784 |
break; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3785 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3786 |
ret = ec_ioctl_sc_sync(master, arg, ctx); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3787 |
break; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3788 |
case EC_IOCTL_SC_WATCHDOG: |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3789 |
if (!ctx->writable) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3790 |
ret = -EPERM; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3791 |
break; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3792 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3793 |
ret = ec_ioctl_sc_watchdog(master, arg, ctx); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3794 |
break; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3795 |
case EC_IOCTL_SC_ADD_PDO: |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3796 |
if (!ctx->writable) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3797 |
ret = -EPERM; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3798 |
break; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3799 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3800 |
ret = ec_ioctl_sc_add_pdo(master, arg, ctx); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3801 |
break; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3802 |
case EC_IOCTL_SC_CLEAR_PDOS: |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3803 |
if (!ctx->writable) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3804 |
ret = -EPERM; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3805 |
break; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3806 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3807 |
ret = ec_ioctl_sc_clear_pdos(master, arg, ctx); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3808 |
break; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3809 |
case EC_IOCTL_SC_ADD_ENTRY: |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3810 |
if (!ctx->writable) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3811 |
ret = -EPERM; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3812 |
break; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3813 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3814 |
ret = ec_ioctl_sc_add_entry(master, arg, ctx); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3815 |
break; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3816 |
case EC_IOCTL_SC_CLEAR_ENTRIES: |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3817 |
if (!ctx->writable) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3818 |
ret = -EPERM; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3819 |
break; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3820 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3821 |
ret = ec_ioctl_sc_clear_entries(master, arg, ctx); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3822 |
break; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3823 |
case EC_IOCTL_SC_REG_PDO_ENTRY: |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3824 |
if (!ctx->writable) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3825 |
ret = -EPERM; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3826 |
break; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3827 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3828 |
ret = ec_ioctl_sc_reg_pdo_entry(master, arg, ctx); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3829 |
break; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3830 |
case EC_IOCTL_SC_DC: |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3831 |
if (!ctx->writable) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3832 |
ret = -EPERM; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3833 |
break; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3834 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3835 |
ret = ec_ioctl_sc_dc(master, arg, ctx); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3836 |
break; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3837 |
case EC_IOCTL_SC_SDO: |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3838 |
if (!ctx->writable) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3839 |
ret = -EPERM; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3840 |
break; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3841 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3842 |
ret = ec_ioctl_sc_sdo(master, arg, ctx); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3843 |
break; |
2438
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2435
diff
changeset
|
3844 |
case EC_IOCTL_SC_EMERG_SIZE: |
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2435
diff
changeset
|
3845 |
if (!ctx->writable) { |
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2435
diff
changeset
|
3846 |
ret = -EPERM; |
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2435
diff
changeset
|
3847 |
break; |
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2435
diff
changeset
|
3848 |
} |
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2435
diff
changeset
|
3849 |
ret = ec_ioctl_sc_emerg_size(master, arg, ctx); |
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2435
diff
changeset
|
3850 |
break; |
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2435
diff
changeset
|
3851 |
case EC_IOCTL_SC_EMERG_POP: |
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2435
diff
changeset
|
3852 |
if (!ctx->writable) { |
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2435
diff
changeset
|
3853 |
ret = -EPERM; |
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2435
diff
changeset
|
3854 |
break; |
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2435
diff
changeset
|
3855 |
} |
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2435
diff
changeset
|
3856 |
ret = ec_ioctl_sc_emerg_pop(master, arg, ctx); |
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2435
diff
changeset
|
3857 |
break; |
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2435
diff
changeset
|
3858 |
case EC_IOCTL_SC_EMERG_CLEAR: |
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2435
diff
changeset
|
3859 |
if (!ctx->writable) { |
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2435
diff
changeset
|
3860 |
ret = -EPERM; |
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2435
diff
changeset
|
3861 |
break; |
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2435
diff
changeset
|
3862 |
} |
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2435
diff
changeset
|
3863 |
ret = ec_ioctl_sc_emerg_clear(master, arg, ctx); |
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2435
diff
changeset
|
3864 |
break; |
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2435
diff
changeset
|
3865 |
case EC_IOCTL_SC_EMERG_OVERRUNS: |
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2435
diff
changeset
|
3866 |
if (!ctx->writable) { |
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2435
diff
changeset
|
3867 |
ret = -EPERM; |
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2435
diff
changeset
|
3868 |
break; |
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2435
diff
changeset
|
3869 |
} |
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2435
diff
changeset
|
3870 |
ret = ec_ioctl_sc_emerg_overruns(master, arg, ctx); |
9c3e629a220c
Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents:
2435
diff
changeset
|
3871 |
break; |
2433
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3872 |
case EC_IOCTL_SC_SDO_REQUEST: |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3873 |
if (!ctx->writable) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3874 |
ret = -EPERM; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3875 |
break; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3876 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3877 |
ret = ec_ioctl_sc_create_sdo_request(master, arg, ctx); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3878 |
break; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3879 |
case EC_IOCTL_SC_VOE: |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3880 |
if (!ctx->writable) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3881 |
ret = -EPERM; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3882 |
break; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3883 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3884 |
ret = ec_ioctl_sc_create_voe_handler(master, arg, ctx); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3885 |
break; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3886 |
case EC_IOCTL_SC_STATE: |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3887 |
ret = ec_ioctl_sc_state(master, arg, ctx); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3888 |
break; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3889 |
case EC_IOCTL_SC_IDN: |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3890 |
if (!ctx->writable) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3891 |
ret = -EPERM; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3892 |
break; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3893 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3894 |
ret = ec_ioctl_sc_idn(master, arg, ctx); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3895 |
break; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3896 |
case EC_IOCTL_DOMAIN_OFFSET: |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3897 |
ret = ec_ioctl_domain_offset(master, arg, ctx); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3898 |
break; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3899 |
case EC_IOCTL_DOMAIN_PROCESS: |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3900 |
if (!ctx->writable) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3901 |
ret = -EPERM; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3902 |
break; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3903 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3904 |
ret = ec_ioctl_domain_process(master, arg, ctx); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3905 |
break; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3906 |
case EC_IOCTL_DOMAIN_QUEUE: |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3907 |
if (!ctx->writable) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3908 |
ret = -EPERM; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3909 |
break; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3910 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3911 |
ret = ec_ioctl_domain_queue(master, arg, ctx); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3912 |
break; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3913 |
case EC_IOCTL_DOMAIN_STATE: |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3914 |
ret = ec_ioctl_domain_state(master, arg, ctx); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3915 |
break; |
2434
fa52128477f6
Added ecrt_sdo_request_index() method to change index and subindex.
Florian Pose <fp@igh-essen.com>
parents:
2433
diff
changeset
|
3916 |
case EC_IOCTL_SDO_REQUEST_INDEX: |
fa52128477f6
Added ecrt_sdo_request_index() method to change index and subindex.
Florian Pose <fp@igh-essen.com>
parents:
2433
diff
changeset
|
3917 |
if (!ctx->writable) { |
fa52128477f6
Added ecrt_sdo_request_index() method to change index and subindex.
Florian Pose <fp@igh-essen.com>
parents:
2433
diff
changeset
|
3918 |
ret = -EPERM; |
fa52128477f6
Added ecrt_sdo_request_index() method to change index and subindex.
Florian Pose <fp@igh-essen.com>
parents:
2433
diff
changeset
|
3919 |
break; |
fa52128477f6
Added ecrt_sdo_request_index() method to change index and subindex.
Florian Pose <fp@igh-essen.com>
parents:
2433
diff
changeset
|
3920 |
} |
fa52128477f6
Added ecrt_sdo_request_index() method to change index and subindex.
Florian Pose <fp@igh-essen.com>
parents:
2433
diff
changeset
|
3921 |
ret = ec_ioctl_sdo_request_index(master, arg, ctx); |
fa52128477f6
Added ecrt_sdo_request_index() method to change index and subindex.
Florian Pose <fp@igh-essen.com>
parents:
2433
diff
changeset
|
3922 |
break; |
2433
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3923 |
case EC_IOCTL_SDO_REQUEST_TIMEOUT: |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3924 |
if (!ctx->writable) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3925 |
ret = -EPERM; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3926 |
break; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3927 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3928 |
ret = ec_ioctl_sdo_request_timeout(master, arg, ctx); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3929 |
break; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3930 |
case EC_IOCTL_SDO_REQUEST_STATE: |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3931 |
ret = ec_ioctl_sdo_request_state(master, arg, ctx); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3932 |
break; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3933 |
case EC_IOCTL_SDO_REQUEST_READ: |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3934 |
if (!ctx->writable) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3935 |
ret = -EPERM; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3936 |
break; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3937 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3938 |
ret = ec_ioctl_sdo_request_read(master, arg, ctx); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3939 |
break; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3940 |
case EC_IOCTL_SDO_REQUEST_WRITE: |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3941 |
if (!ctx->writable) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3942 |
ret = -EPERM; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3943 |
break; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3944 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3945 |
ret = ec_ioctl_sdo_request_write(master, arg, ctx); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3946 |
break; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3947 |
case EC_IOCTL_SDO_REQUEST_DATA: |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3948 |
ret = ec_ioctl_sdo_request_data(master, arg, ctx); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3949 |
break; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3950 |
case EC_IOCTL_VOE_SEND_HEADER: |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3951 |
if (!ctx->writable) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3952 |
ret = -EPERM; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3953 |
break; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3954 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3955 |
ret = ec_ioctl_voe_send_header(master, arg, ctx); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3956 |
break; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3957 |
case EC_IOCTL_VOE_REC_HEADER: |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3958 |
ret = ec_ioctl_voe_rec_header(master, arg, ctx); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3959 |
break; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3960 |
case EC_IOCTL_VOE_READ: |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3961 |
if (!ctx->writable) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3962 |
ret = -EPERM; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3963 |
break; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3964 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3965 |
ret = ec_ioctl_voe_read(master, arg, ctx); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3966 |
break; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3967 |
case EC_IOCTL_VOE_READ_NOSYNC: |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3968 |
if (!ctx->writable) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3969 |
ret = -EPERM; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3970 |
break; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3971 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3972 |
ret = ec_ioctl_voe_read_nosync(master, arg, ctx); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3973 |
break; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3974 |
case EC_IOCTL_VOE_WRITE: |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3975 |
if (!ctx->writable) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3976 |
ret = -EPERM; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3977 |
break; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3978 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3979 |
ret = ec_ioctl_voe_write(master, arg, ctx); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3980 |
break; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3981 |
case EC_IOCTL_VOE_EXEC: |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3982 |
if (!ctx->writable) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3983 |
ret = -EPERM; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3984 |
break; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3985 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3986 |
ret = ec_ioctl_voe_exec(master, arg, ctx); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3987 |
break; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3988 |
case EC_IOCTL_VOE_DATA: |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3989 |
ret = ec_ioctl_voe_data(master, arg, ctx); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3990 |
break; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3991 |
case EC_IOCTL_SET_SEND_INTERVAL: |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3992 |
if (!ctx->writable) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3993 |
ret = -EPERM; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3994 |
break; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3995 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3996 |
ret = ec_ioctl_set_send_interval(master, arg, ctx); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3997 |
break; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3998 |
default: |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3999 |
ret = -ENOTTY; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
4000 |
break; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
4001 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
4002 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
4003 |
#if DEBUG_LATENCY |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
4004 |
b = get_cycles(); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
4005 |
t = (unsigned int) ((b - a) * 1000LL) / cpu_khz; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
4006 |
if (t > 50) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
4007 |
EC_MASTER_WARN(master, "ioctl(0x%02x) took %u us.\n", |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
4008 |
_IOC_NR(cmd), t); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
4009 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
4010 |
#endif |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
4011 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
4012 |
return ret; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
4013 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
4014 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
4015 |
/*****************************************************************************/ |