master/cdev.c
author Andreas Stewering-Bone <ab@igh-essen.com>
Wed, 25 May 2011 09:54:47 +0200
changeset 2072 4adb56c4198d
parent 2066 b544025bd696
child 2105 86a4a7587c43
permissions -rw-r--r--
Add e1000 for 2.6.29
Thanks to Mr Benner (Company Moehwald, Germany)
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/******************************************************************************
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 *
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 *  $Id$
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 *
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 *  Copyright (C) 2006-2008  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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   \file
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   EtherCAT master character device.
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*/
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/*****************************************************************************/
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#include <linux/module.h>
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#include <linux/vmalloc.h>
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#include <linux/mm.h>
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#include "cdev.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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/** Set to 1 to enable ioctl() command debugging.
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 */
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#define DEBUG_IOCTL 0
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/*****************************************************************************/
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static int eccdev_open(struct inode *, struct file *);
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static int eccdev_release(struct inode *, struct file *);
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static long eccdev_ioctl(struct file *, unsigned int, unsigned long);
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static int eccdev_mmap(struct file *, struct vm_area_struct *);
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/** This is the kernel version from which the .fault member of the
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 * vm_operations_struct is usable.
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 */
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#define PAGE_FAULT_VERSION KERNEL_VERSION(2, 6, 23)
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#if LINUX_VERSION_CODE >= PAGE_FAULT_VERSION
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static int eccdev_vma_fault(struct vm_area_struct *, struct vm_fault *);
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#else
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static struct page *eccdev_vma_nopage(
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        struct vm_area_struct *, unsigned long, int *);
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#endif
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/*****************************************************************************/
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/** File operation callbacks for the EtherCAT character device.
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 */
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static struct file_operations eccdev_fops = {
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    .owner          = THIS_MODULE,
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    .open           = eccdev_open,
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    .release        = eccdev_release,
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    .unlocked_ioctl = eccdev_ioctl,
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    .mmap           = eccdev_mmap
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};
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/** Callbacks for a virtual memory area retrieved with ecdevc_mmap().
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 */
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struct vm_operations_struct eccdev_vm_ops = {
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#if LINUX_VERSION_CODE >= PAGE_FAULT_VERSION
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    .fault = eccdev_vma_fault
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#else
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    .nopage = eccdev_vma_nopage
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#endif
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};
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/*****************************************************************************/
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/** Private data structure for file handles.
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 */
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typedef struct {
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    ec_cdev_t *cdev; /**< Character device. */
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    unsigned int requested; /**< Master wac requested via this file handle. */
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    uint8_t *process_data; /**< Total process data area. */
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    size_t process_data_size; /**< Size of the \a process_data. */
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} ec_cdev_priv_t;
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/*****************************************************************************/
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/** Constructor.
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 * 
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 * \return 0 in case of success, else < 0
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 */
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int ec_cdev_init(
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        ec_cdev_t *cdev, /**< EtherCAT master character device. */
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        ec_master_t *master, /**< Parent master. */
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        dev_t dev_num /**< Device number. */
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        )
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{
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    int ret;
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    cdev->master = master;
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    cdev_init(&cdev->cdev, &eccdev_fops);
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    cdev->cdev.owner = THIS_MODULE;
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    ret = cdev_add(&cdev->cdev,
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            MKDEV(MAJOR(dev_num), master->index), 1);
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    if (ret) {
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        EC_MASTER_ERR(master, "Failed to add character device!\n");
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    }
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    return ret;
922
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}
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/*****************************************************************************/
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/** Destructor.
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 */
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void ec_cdev_clear(ec_cdev_t *cdev /**< EtherCAT XML device */)
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{
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    cdev_del(&cdev->cdev);
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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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void ec_cdev_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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/** Get module information.
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 */
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int ec_cdev_ioctl_module(
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        unsigned long 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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    return 0;
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}
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/*****************************************************************************/
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/** Get master information.
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 */
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int ec_cdev_ioctl_master(
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        ec_master_t *master, /**< EtherCAT master. */
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        unsigned long 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;
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    if (ec_mutex_lock_interruptible(&master->master_mutex))
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        return -EINTR;
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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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   194
#ifdef EC_EOE
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   195
    data.eoe_handler_count = ec_master_eoe_handler_count(master);
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   196
#endif
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    data.phase = (uint8_t) master->phase;
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    data.active = (uint8_t) master->active;
1447
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    data.scan_busy = master->scan_busy;
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    ec_mutex_unlock(&master->master_mutex);
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    if (ec_mutex_lock_interruptible(&master->device_mutex))
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        return -EINTR;
1415
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    if (master->main_device.dev) {
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        memcpy(data.devices[0].address,
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                master->main_device.dev->dev_addr, ETH_ALEN);
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   208
    } else {
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        memcpy(data.devices[0].address, master->main_mac, ETH_ALEN); 
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   210
    }
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    data.devices[0].attached = master->main_device.dev ? 1 : 0;
1401
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    data.devices[0].link_state = master->main_device.link_state ? 1 : 0;
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    data.devices[0].tx_count = master->main_device.tx_count;
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    data.devices[0].rx_count = master->main_device.rx_count;
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    data.devices[0].tx_bytes = master->main_device.tx_bytes;
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   216
    data.devices[0].tx_errors = master->main_device.tx_errors;
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    for (i = 0; i < EC_RATE_COUNT; i++) {
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   218
        data.devices[0].tx_frame_rates[i] =
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   219
            master->main_device.tx_frame_rates[i];
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   220
        data.devices[0].tx_byte_rates[i] =
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diff changeset
   221
            master->main_device.tx_byte_rates[i];
1851
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   222
        data.devices[0].loss_rates[i] = master->main_device.loss_rates[i];
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   223
    }
1162
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   224
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   225
    if (master->backup_device.dev) {
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   226
        memcpy(data.devices[1].address,
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   227
                master->backup_device.dev->dev_addr, ETH_ALEN); 
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diff changeset
   228
    } else {
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   229
        memcpy(data.devices[1].address, master->backup_mac, ETH_ALEN); 
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   230
    }
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   231
    data.devices[1].attached = master->backup_device.dev ? 1 : 0;
1401
96baef8a3162 Output link state in 'ethercat master'.
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   232
    data.devices[1].link_state = master->backup_device.link_state ? 1 : 0;
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   233
    data.devices[1].tx_count = master->backup_device.tx_count;
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   234
    data.devices[1].rx_count = master->backup_device.rx_count;
1857
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   235
    data.devices[1].tx_bytes = master->backup_device.tx_bytes;
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diff changeset
   236
    data.devices[1].tx_errors = master->backup_device.tx_errors;
1851
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   237
    for (i = 0; i < EC_RATE_COUNT; i++) {
1857
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   238
        data.devices[1].tx_frame_rates[i] =
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diff changeset
   239
            master->backup_device.tx_frame_rates[i];
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   240
        data.devices[1].tx_byte_rates[i] =
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diff changeset
   241
            master->backup_device.tx_byte_rates[i];
1851
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   242
        data.devices[1].loss_rates[i] = master->backup_device.loss_rates[i];
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   243
    }
1415
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   244
2028
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   245
    ec_mutex_unlock(&master->device_mutex);
1079
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   246
1415
9d1cdbf41247 Output reference clock and application time in 'ethercat Master'.
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   247
    data.app_time = master->app_time;
1435
f1df39224f49 Take ref clock address from dc_ref_clock pointer.
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diff changeset
   248
    data.ref_clock =
f1df39224f49 Take ref clock address from dc_ref_clock pointer.
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diff changeset
   249
        master->dc_ref_clock ? master->dc_ref_clock->ring_position : 0xffff;
1415
9d1cdbf41247 Output reference clock and application time in 'ethercat Master'.
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   250
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   251
    if (copy_to_user((void __user *) arg, &data, sizeof(data)))
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   252
        return -EFAULT;
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diff changeset
   253
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   254
    return 0;
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   255
}
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   256
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   257
/*****************************************************************************/
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   258
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   259
/** Get slave information.
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   260
 */
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   261
int ec_cdev_ioctl_slave(
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   262
        ec_master_t *master, /**< EtherCAT master. */
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   263
        unsigned long arg /**< Userspace address to store the results. */
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   264
        )
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   265
{
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   266
    ec_ioctl_slave_t data;
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   267
    const ec_slave_t *slave;
1379
cbceb0e2f2a0 Reading more base information (incl. whether DC supported).
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   268
    int i;
1079
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   269
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   270
    if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
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   271
        return -EFAULT;
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   272
    }
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2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
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   274
    if (ec_mutex_lock_interruptible(&master->master_mutex))
1189
acc6430bfb32 Use down_interruptible() wherever possible.
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        return -EINTR;
1079
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   277
    if (!(slave = ec_master_find_slave_const(
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   278
                    master, 0, data.position))) {
2028
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   279
        ec_mutex_unlock(&master->master_mutex);
1921
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   280
        EC_MASTER_ERR(master, "Slave %u does not exist!\n", data.position);
1079
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   281
        return -EINVAL;
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   282
    }
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   283
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    data.vendor_id = slave->sii.vendor_id;
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   285
    data.product_code = slave->sii.product_code;
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   286
    data.revision_number = slave->sii.revision_number;
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   287
    data.serial_number = slave->sii.serial_number;
1909
ea3eb4c74c1b Introduced effective_alias variable to separate reg12 alias from SII alias.
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   288
    data.alias = slave->effective_alias;
1337
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
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   289
    data.boot_rx_mailbox_offset = slave->sii.boot_rx_mailbox_offset;
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
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   290
    data.boot_rx_mailbox_size = slave->sii.boot_rx_mailbox_size;
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
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   291
    data.boot_tx_mailbox_offset = slave->sii.boot_tx_mailbox_offset;
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
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   292
    data.boot_tx_mailbox_size = slave->sii.boot_tx_mailbox_size;
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   293
    data.std_rx_mailbox_offset = slave->sii.std_rx_mailbox_offset;
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   294
    data.std_rx_mailbox_size = slave->sii.std_rx_mailbox_size;
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   295
    data.std_tx_mailbox_offset = slave->sii.std_tx_mailbox_offset;
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   296
    data.std_tx_mailbox_size = slave->sii.std_tx_mailbox_size;
1079
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   297
    data.mailbox_protocols = slave->sii.mailbox_protocols;
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   298
    data.has_general_category = slave->sii.has_general;
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   299
    data.coe_details = slave->sii.coe_details;
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   300
    data.general_flags = slave->sii.general_flags;
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diff changeset
   301
    data.current_on_ebus = slave->sii.current_on_ebus;
1379
cbceb0e2f2a0 Reading more base information (incl. whether DC supported).
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   302
    for (i = 0; i < EC_MAX_PORTS; i++) {
1425
c1322a8793c0 Transition delay calculation. TBC...
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   303
        data.ports[i].desc = slave->ports[i].desc;
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   304
        data.ports[i].link.link_up = slave->ports[i].link.link_up;
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diff changeset
   305
        data.ports[i].link.loop_closed = slave->ports[i].link.loop_closed;
1831
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
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diff changeset
   306
        data.ports[i].link.signal_detected =
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diff changeset
   307
            slave->ports[i].link.signal_detected;
1425
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   308
        data.ports[i].receive_time = slave->ports[i].receive_time;
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diff changeset
   309
        if (slave->ports[i].next_slave) {
1831
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diff changeset
   310
            data.ports[i].next_slave =
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diff changeset
   311
                slave->ports[i].next_slave->ring_position;
1421
043a518831b2 Bus topology calculation.
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diff changeset
   312
        } else {
1425
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   313
            data.ports[i].next_slave = 0xffff;
1421
043a518831b2 Bus topology calculation.
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   314
        }
1425
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   315
        data.ports[i].delay_to_next_dc = slave->ports[i].delay_to_next_dc;
1379
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diff changeset
   316
    }
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diff changeset
   317
    data.fmmu_bit = slave->base_fmmu_bit_operation;
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diff changeset
   318
    data.dc_supported = slave->base_dc_supported;
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diff changeset
   319
    data.dc_range = slave->base_dc_range;
1419
8fc38c37d86e Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
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diff changeset
   320
    data.has_dc_system_time = slave->has_dc_system_time;
1426
af45bba80d85 Transition->Transmission.
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diff changeset
   321
    data.transmission_delay = slave->transmission_delay;
1148
1762296870bd Renamed state field to al_state.
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diff changeset
   322
    data.al_state = slave->current_state;
1079
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diff changeset
   323
    data.error_flag = slave->error_flag;
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diff changeset
   324
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   325
    data.sync_count = slave->sii.sync_count;
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diff changeset
   326
    data.sdo_count = ec_slave_sdo_count(slave);
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diff changeset
   327
    data.sii_nwords = slave->sii_nwords;
1109
11ac4051db6b Group/Image/Order strings in slave ioctl; order number as text content
Florian Pose <fp@igh-essen.com>
parents: 1108
diff changeset
   328
    ec_cdev_strcpy(data.group, slave->sii.group);
11ac4051db6b Group/Image/Order strings in slave ioctl; order number as text content
Florian Pose <fp@igh-essen.com>
parents: 1108
diff changeset
   329
    ec_cdev_strcpy(data.image, slave->sii.image);
11ac4051db6b Group/Image/Order strings in slave ioctl; order number as text content
Florian Pose <fp@igh-essen.com>
parents: 1108
diff changeset
   330
    ec_cdev_strcpy(data.order, slave->sii.order);
1108
7beba3e7e6b4 Added ec_cdev_strcpy() function.
Florian Pose <fp@igh-essen.com>
parents: 1092
diff changeset
   331
    ec_cdev_strcpy(data.name, slave->sii.name);
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
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diff changeset
   332
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2027
diff changeset
   333
    ec_mutex_unlock(&master->master_mutex);
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
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diff changeset
   334
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
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diff changeset
   335
    if (copy_to_user((void __user *) arg, &data, sizeof(data)))
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
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diff changeset
   336
        return -EFAULT;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
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diff changeset
   337
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
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diff changeset
   338
    return 0;
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diff changeset
   339
}
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
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diff changeset
   340
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diff changeset
   341
/*****************************************************************************/
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diff changeset
   342
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
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diff changeset
   343
/** Get slave sync manager information.
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diff changeset
   344
 */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
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diff changeset
   345
int ec_cdev_ioctl_slave_sync(
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
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parents: 1075
diff changeset
   346
        ec_master_t *master, /**< EtherCAT master. */
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parents: 1075
diff changeset
   347
        unsigned long arg /**< Userspace address to store the results. */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
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diff changeset
   348
        )
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
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diff changeset
   349
{
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
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diff changeset
   350
    ec_ioctl_slave_sync_t data;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
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diff changeset
   351
    const ec_slave_t *slave;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
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diff changeset
   352
    const ec_sync_t *sync;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
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diff changeset
   353
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
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parents: 1075
diff changeset
   354
    if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
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parents: 1075
diff changeset
   355
        return -EFAULT;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
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parents: 1075
diff changeset
   356
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   357
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2027
diff changeset
   358
    if (ec_mutex_lock_interruptible(&master->master_mutex))
1189
acc6430bfb32 Use down_interruptible() wherever possible.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   359
        return -EINTR;
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   360
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   361
    if (!(slave = ec_master_find_slave_const(
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   362
                    master, 0, data.slave_position))) {
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2027
diff changeset
   363
        ec_mutex_unlock(&master->master_mutex);
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   364
        EC_MASTER_ERR(master, "Slave %u does not exist!\n",
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   365
                data.slave_position);
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   366
        return -EINVAL;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
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parents: 1075
diff changeset
   367
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   368
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   369
    if (data.sync_index >= slave->sii.sync_count) {
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2027
diff changeset
   370
        ec_mutex_unlock(&master->master_mutex);
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   371
        EC_SLAVE_ERR(slave, "Sync manager %u does not exist!\n",
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   372
                data.sync_index);
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   373
        return -EINVAL;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   374
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   375
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   376
    sync = &slave->sii.syncs[data.sync_index];
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   377
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   378
    data.physical_start_address = sync->physical_start_address;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   379
    data.default_size = sync->default_length;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   380
    data.control_register = sync->control_register;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   381
    data.enable = sync->enable;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   382
    data.pdo_count = ec_pdo_list_count(&sync->pdos);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   383
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2027
diff changeset
   384
    ec_mutex_unlock(&master->master_mutex);
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   385
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   386
    if (copy_to_user((void __user *) arg, &data, sizeof(data)))
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   387
        return -EFAULT;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   388
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   389
    return 0;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   390
}
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   391
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   392
/*****************************************************************************/
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   393
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   394
/** Get slave sync manager PDO information.
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   395
 */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   396
int ec_cdev_ioctl_slave_sync_pdo(
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   397
        ec_master_t *master, /**< EtherCAT master. */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   398
        unsigned long arg /**< Userspace address to store the results. */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   399
        )
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   400
{
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   401
    ec_ioctl_slave_sync_pdo_t data;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   402
    const ec_slave_t *slave;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   403
    const ec_sync_t *sync;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   404
    const ec_pdo_t *pdo;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   405
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   406
    if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   407
        return -EFAULT;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   408
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   409
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2027
diff changeset
   410
    if (ec_mutex_lock_interruptible(&master->master_mutex))
1189
acc6430bfb32 Use down_interruptible() wherever possible.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   411
        return -EINTR;
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   412
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   413
    if (!(slave = ec_master_find_slave_const(
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   414
                    master, 0, data.slave_position))) {
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2027
diff changeset
   415
        ec_mutex_unlock(&master->master_mutex);
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   416
        EC_MASTER_ERR(master, "Slave %u does not exist!\n",
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   417
                data.slave_position);
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   418
        return -EINVAL;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   419
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   420
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   421
    if (data.sync_index >= slave->sii.sync_count) {
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2027
diff changeset
   422
        ec_mutex_unlock(&master->master_mutex);
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   423
        EC_SLAVE_ERR(slave, "Sync manager %u does not exist!\n",
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   424
                data.sync_index);
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   425
        return -EINVAL;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   426
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   427
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   428
    sync = &slave->sii.syncs[data.sync_index];
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   429
    if (!(pdo = ec_pdo_list_find_pdo_by_pos_const(
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   430
                    &sync->pdos, data.pdo_pos))) {
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2027
diff changeset
   431
        ec_mutex_unlock(&master->master_mutex);
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   432
        EC_SLAVE_ERR(slave, "Sync manager %u does not contain a PDO with "
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   433
                "position %u!\n", data.sync_index, data.pdo_pos);
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   434
        return -EINVAL;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   435
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   436
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   437
    data.index = pdo->index;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   438
    data.entry_count = ec_pdo_entry_count(pdo);
1108
7beba3e7e6b4 Added ec_cdev_strcpy() function.
Florian Pose <fp@igh-essen.com>
parents: 1092
diff changeset
   439
    ec_cdev_strcpy(data.name, pdo->name);
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   440
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2027
diff changeset
   441
    ec_mutex_unlock(&master->master_mutex);
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   442
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   443
    if (copy_to_user((void __user *) arg, &data, sizeof(data)))
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   444
        return -EFAULT;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   445
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   446
    return 0;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   447
}
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   448
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   449
/*****************************************************************************/
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   450
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   451
/** Get slave sync manager PDO entry information.
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   452
 */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   453
int ec_cdev_ioctl_slave_sync_pdo_entry(
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   454
        ec_master_t *master, /**< EtherCAT master. */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   455
        unsigned long arg /**< Userspace address to store the results. */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   456
        )
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   457
{
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   458
    ec_ioctl_slave_sync_pdo_entry_t data;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   459
    const ec_slave_t *slave;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   460
    const ec_sync_t *sync;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   461
    const ec_pdo_t *pdo;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   462
    const ec_pdo_entry_t *entry;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   463
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   464
    if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   465
        return -EFAULT;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   466
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   467
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2027
diff changeset
   468
    if (ec_mutex_lock_interruptible(&master->master_mutex))
1189
acc6430bfb32 Use down_interruptible() wherever possible.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   469
        return -EINTR;
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   470
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   471
    if (!(slave = ec_master_find_slave_const(
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   472
                    master, 0, data.slave_position))) {
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2027
diff changeset
   473
        ec_mutex_unlock(&master->master_mutex);
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   474
        EC_MASTER_ERR(master, "Slave %u does not exist!\n",
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   475
                data.slave_position);
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   476
        return -EINVAL;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   477
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   478
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   479
    if (data.sync_index >= slave->sii.sync_count) {
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2027
diff changeset
   480
        ec_mutex_unlock(&master->master_mutex);
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   481
        EC_SLAVE_ERR(slave, "Sync manager %u does not exist!\n",
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   482
                data.sync_index);
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   483
        return -EINVAL;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   484
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   485
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   486
    sync = &slave->sii.syncs[data.sync_index];
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   487
    if (!(pdo = ec_pdo_list_find_pdo_by_pos_const(
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   488
                    &sync->pdos, data.pdo_pos))) {
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2027
diff changeset
   489
        ec_mutex_unlock(&master->master_mutex);
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   490
        EC_SLAVE_ERR(slave, "Sync manager %u does not contain a PDO with "
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   491
                "position %u!\n", data.sync_index, data.pdo_pos);
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   492
        return -EINVAL;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   493
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   494
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   495
    if (!(entry = ec_pdo_find_entry_by_pos_const(
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   496
                    pdo, data.entry_pos))) {
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2027
diff changeset
   497
        ec_mutex_unlock(&master->master_mutex);
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   498
        EC_SLAVE_ERR(slave, "PDO 0x%04X does not contain an entry with "
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   499
                "position %u!\n", data.pdo_pos, data.entry_pos);
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   500
        return -EINVAL;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   501
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   502
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   503
    data.index = entry->index;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   504
    data.subindex = entry->subindex;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   505
    data.bit_length = entry->bit_length;
1108
7beba3e7e6b4 Added ec_cdev_strcpy() function.
Florian Pose <fp@igh-essen.com>
parents: 1092
diff changeset
   506
    ec_cdev_strcpy(data.name, entry->name);
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   507
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2027
diff changeset
   508
    ec_mutex_unlock(&master->master_mutex);
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   509
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   510
    if (copy_to_user((void __user *) arg, &data, sizeof(data)))
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   511
        return -EFAULT;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   512
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   513
    return 0;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   514
}
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   515
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   516
/*****************************************************************************/
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   517
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   518
/** Get domain information.
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   519
 */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   520
int ec_cdev_ioctl_domain(
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   521
        ec_master_t *master, /**< EtherCAT master. */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   522
        unsigned long arg /**< Userspace address to store the results. */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   523
        )
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   524
{
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   525
    ec_ioctl_domain_t data;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   526
    const ec_domain_t *domain;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   527
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   528
    if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   529
        return -EFAULT;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   530
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   531
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2027
diff changeset
   532
    if (ec_mutex_lock_interruptible(&master->master_mutex))
1189
acc6430bfb32 Use down_interruptible() wherever possible.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   533
        return -EINTR;
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   534
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   535
    if (!(domain = ec_master_find_domain_const(master, data.index))) {
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2027
diff changeset
   536
        ec_mutex_unlock(&master->master_mutex);
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   537
        EC_MASTER_ERR(master, "Domain %u does not exist!\n", data.index);
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   538
        return -EINVAL;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   539
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   540
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   541
    data.data_size = domain->data_size;
1984
02c8728bf9e4 Inplace I/O: fixed domain command (fmmu logical_address -> domain_address); show domain tx size
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1981
diff changeset
   542
    data.tx_size = domain->tx_size;
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   543
    data.logical_base_address = domain->logical_base_address;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   544
    data.working_counter = domain->working_counter;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   545
    data.expected_working_counter = domain->expected_working_counter;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   546
    data.fmmu_count = ec_domain_fmmu_count(domain);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   547
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2027
diff changeset
   548
    ec_mutex_unlock(&master->master_mutex);
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   549
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   550
    if (copy_to_user((void __user *) arg, &data, sizeof(data)))
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   551
        return -EFAULT;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   552
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   553
    return 0;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   554
}
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   555
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   556
/*****************************************************************************/
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   557
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   558
/** Get domain FMMU information.
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   559
 */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   560
int ec_cdev_ioctl_domain_fmmu(
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   561
        ec_master_t *master, /**< EtherCAT master. */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   562
        unsigned long arg /**< Userspace address to store the results. */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   563
        )
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   564
{
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   565
    ec_ioctl_domain_fmmu_t data;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   566
    const ec_domain_t *domain;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   567
    const ec_fmmu_config_t *fmmu;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   568
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   569
    if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   570
        return -EFAULT;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   571
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   572
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2027
diff changeset
   573
    if (ec_mutex_lock_interruptible(&master->master_mutex))
1189
acc6430bfb32 Use down_interruptible() wherever possible.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   574
        return -EINTR;
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   575
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   576
    if (!(domain = ec_master_find_domain_const(master, data.domain_index))) {
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2027
diff changeset
   577
        ec_mutex_unlock(&master->master_mutex);
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   578
        EC_MASTER_ERR(master, "Domain %u does not exist!\n",
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   579
                data.domain_index);
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   580
        return -EINVAL;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   581
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   582
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   583
    if (!(fmmu = ec_domain_find_fmmu(domain, data.fmmu_index))) {
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2027
diff changeset
   584
        ec_mutex_unlock(&master->master_mutex);
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   585
        EC_MASTER_ERR(master, "Domain %u has less than %u"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   586
                " fmmu configurations.\n",
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   587
                data.domain_index, data.fmmu_index + 1);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   588
        return -EINVAL;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   589
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   590
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   591
    data.slave_config_alias = fmmu->sc->alias;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   592
    data.slave_config_position = fmmu->sc->position;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   593
    data.sync_index = fmmu->sync_index;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   594
    data.dir = fmmu->dir;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   595
    data.logical_address = fmmu->logical_start_address;
1984
02c8728bf9e4 Inplace I/O: fixed domain command (fmmu logical_address -> domain_address); show domain tx size
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1981
diff changeset
   596
    data.domain_address = fmmu->domain_address;
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   597
    data.data_size = fmmu->data_size;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   598
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2027
diff changeset
   599
    ec_mutex_unlock(&master->master_mutex);
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   600
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   601
    if (copy_to_user((void __user *) arg, &data, sizeof(data)))
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   602
        return -EFAULT;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   603
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   604
    return 0;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   605
}
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   606
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   607
/*****************************************************************************/
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   608
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   609
/** Get domain data.
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   610
 */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   611
int ec_cdev_ioctl_domain_data(
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   612
        ec_master_t *master, /**< EtherCAT master. */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   613
        unsigned long arg /**< Userspace address to store the results. */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   614
        )
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   615
{
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   616
    ec_ioctl_domain_data_t data;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   617
    const ec_domain_t *domain;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   618
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   619
    if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   620
        return -EFAULT;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   621
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   622
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2027
diff changeset
   623
    if (ec_mutex_lock_interruptible(&master->master_mutex))
1189
acc6430bfb32 Use down_interruptible() wherever possible.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   624
        return -EINTR;
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   625
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   626
    if (!(domain = ec_master_find_domain_const(master, data.domain_index))) {
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2027
diff changeset
   627
        ec_mutex_unlock(&master->master_mutex);
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   628
        EC_MASTER_ERR(master, "Domain %u does not exist!\n",
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   629
                data.domain_index);
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   630
        return -EINVAL;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   631
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   632
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   633
    if (domain->data_size != data.data_size) {
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2027
diff changeset
   634
        ec_mutex_unlock(&master->master_mutex);
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   635
        EC_MASTER_ERR(master, "Data size mismatch %u/%zu!\n",
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   636
                data.data_size, domain->data_size);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   637
        return -EFAULT;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   638
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   639
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   640
    if (copy_to_user((void __user *) data.target, domain->data,
1223
6d539205114e Added missing up().
Florian Pose <fp@igh-essen.com>
parents: 1209
diff changeset
   641
                domain->data_size)) {
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2027
diff changeset
   642
        ec_mutex_unlock(&master->master_mutex);
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2027
diff changeset
   643
        return -EFAULT;
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2027
diff changeset
   644
    }
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2027
diff changeset
   645
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2027
diff changeset
   646
    ec_mutex_unlock(&master->master_mutex);
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   647
    return 0;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   648
}
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   649
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   650
/*****************************************************************************/
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   651
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   652
/** Set master debug level.
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   653
 */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   654
int ec_cdev_ioctl_master_debug(
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   655
        ec_master_t *master, /**< EtherCAT master. */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   656
        unsigned long arg /**< ioctl() argument. */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   657
        )
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   658
{
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   659
    return ec_master_debug_level(master, (unsigned int) arg);
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   660
}
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   661
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   662
/*****************************************************************************/
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   663
1961
48f536aefc18 Rescan command.
Florian Pose <fp@igh-essen.com>
parents: 1945
diff changeset
   664
/** Issue a bus scan.
48f536aefc18 Rescan command.
Florian Pose <fp@igh-essen.com>
parents: 1945
diff changeset
   665
 */
48f536aefc18 Rescan command.
Florian Pose <fp@igh-essen.com>
parents: 1945
diff changeset
   666
int ec_cdev_ioctl_master_rescan(
48f536aefc18 Rescan command.
Florian Pose <fp@igh-essen.com>
parents: 1945
diff changeset
   667
        ec_master_t *master, /**< EtherCAT master. */
48f536aefc18 Rescan command.
Florian Pose <fp@igh-essen.com>
parents: 1945
diff changeset
   668
        unsigned long arg /**< ioctl() argument. */
48f536aefc18 Rescan command.
Florian Pose <fp@igh-essen.com>
parents: 1945
diff changeset
   669
        )
48f536aefc18 Rescan command.
Florian Pose <fp@igh-essen.com>
parents: 1945
diff changeset
   670
{
48f536aefc18 Rescan command.
Florian Pose <fp@igh-essen.com>
parents: 1945
diff changeset
   671
    master->fsm.rescan_required = 1;
48f536aefc18 Rescan command.
Florian Pose <fp@igh-essen.com>
parents: 1945
diff changeset
   672
    return 0;
48f536aefc18 Rescan command.
Florian Pose <fp@igh-essen.com>
parents: 1945
diff changeset
   673
}
48f536aefc18 Rescan command.
Florian Pose <fp@igh-essen.com>
parents: 1945
diff changeset
   674
48f536aefc18 Rescan command.
Florian Pose <fp@igh-essen.com>
parents: 1945
diff changeset
   675
/*****************************************************************************/
48f536aefc18 Rescan command.
Florian Pose <fp@igh-essen.com>
parents: 1945
diff changeset
   676
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   677
/** Set slave state.
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   678
 */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   679
int ec_cdev_ioctl_slave_state(
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   680
        ec_master_t *master, /**< EtherCAT master. */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   681
        unsigned long arg /**< ioctl() argument. */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   682
        )
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   683
{
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   684
    ec_ioctl_slave_state_t data;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   685
    ec_slave_t *slave;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   686
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   687
    if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   688
        return -EFAULT;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   689
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   690
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2027
diff changeset
   691
    if (ec_mutex_lock_interruptible(&master->master_mutex))
1189
acc6430bfb32 Use down_interruptible() wherever possible.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   692
        return -EINTR;
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   693
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   694
    if (!(slave = ec_master_find_slave(
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   695
                    master, 0, data.slave_position))) {
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2027
diff changeset
   696
        ec_mutex_unlock(&master->master_mutex);
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   697
        EC_MASTER_ERR(master, "Slave %u does not exist!\n",
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   698
                data.slave_position);
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   699
        return -EINVAL;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   700
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   701
1150
c589b54ade01 Fixed requested_state.
Florian Pose <fp@igh-essen.com>
parents: 1148
diff changeset
   702
    ec_slave_request_state(slave, data.al_state);
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   703
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2027
diff changeset
   704
    ec_mutex_unlock(&master->master_mutex);
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   705
    return 0;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   706
}
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   707
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   708
/*****************************************************************************/
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   709
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   710
/** Get slave SDO information.
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   711
 */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   712
int ec_cdev_ioctl_slave_sdo(
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   713
        ec_master_t *master, /**< EtherCAT master. */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   714
        unsigned long arg /**< ioctl() argument. */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   715
        )
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   716
{
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   717
    ec_ioctl_slave_sdo_t data;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   718
    const ec_slave_t *slave;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   719
    const ec_sdo_t *sdo;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   720
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   721
    if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   722
        return -EFAULT;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   723
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   724
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2027
diff changeset
   725
    if (ec_mutex_lock_interruptible(&master->master_mutex))
1189
acc6430bfb32 Use down_interruptible() wherever possible.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   726
        return -EINTR;
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   727
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   728
    if (!(slave = ec_master_find_slave_const(
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   729
                    master, 0, data.slave_position))) {
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2027
diff changeset
   730
        ec_mutex_unlock(&master->master_mutex);
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   731
        EC_MASTER_ERR(master, "Slave %u does not exist!\n",
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   732
                data.slave_position);
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   733
        return -EINVAL;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   734
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   735
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   736
    if (!(sdo = ec_slave_get_sdo_by_pos_const(
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   737
                    slave, data.sdo_position))) {
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2027
diff changeset
   738
        ec_mutex_unlock(&master->master_mutex);
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   739
        EC_SLAVE_ERR(slave, "SDO %u does not exist!\n", data.sdo_position);
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   740
        return -EINVAL;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   741
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   742
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   743
    data.sdo_index = sdo->index;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   744
    data.max_subindex = sdo->max_subindex;
1108
7beba3e7e6b4 Added ec_cdev_strcpy() function.
Florian Pose <fp@igh-essen.com>
parents: 1092
diff changeset
   745
    ec_cdev_strcpy(data.name, sdo->name);
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   746
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2027
diff changeset
   747
    ec_mutex_unlock(&master->master_mutex);
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   748
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   749
    if (copy_to_user((void __user *) arg, &data, sizeof(data)))
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   750
        return -EFAULT;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   751
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   752
    return 0;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   753
}
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   754
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   755
/*****************************************************************************/
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   756
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   757
/** Get slave SDO entry information.
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   758
 */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   759
int ec_cdev_ioctl_slave_sdo_entry(
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   760
        ec_master_t *master, /**< EtherCAT master. */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   761
        unsigned long arg /**< ioctl() argument. */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   762
        )
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   763
{
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   764
    ec_ioctl_slave_sdo_entry_t data;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   765
    const ec_slave_t *slave;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   766
    const ec_sdo_t *sdo;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   767
    const ec_sdo_entry_t *entry;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   768
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   769
    if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   770
        return -EFAULT;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   771
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   772
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2027
diff changeset
   773
    if (ec_mutex_lock_interruptible(&master->master_mutex))
1189
acc6430bfb32 Use down_interruptible() wherever possible.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   774
        return -EINTR;
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   775
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   776
    if (!(slave = ec_master_find_slave_const(
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   777
                    master, 0, data.slave_position))) {
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2027
diff changeset
   778
        ec_mutex_unlock(&master->master_mutex);
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   779
        EC_MASTER_ERR(master, "Slave %u does not exist!\n",
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   780
                data.slave_position);
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   781
        return -EINVAL;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   782
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   783
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   784
    if (data.sdo_spec <= 0) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   785
        if (!(sdo = ec_slave_get_sdo_by_pos_const(
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   786
                        slave, -data.sdo_spec))) {
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2027
diff changeset
   787
            ec_mutex_unlock(&master->master_mutex);
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   788
            EC_SLAVE_ERR(slave, "SDO %u does not exist!\n", -data.sdo_spec);
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   789
            return -EINVAL;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   790
        }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   791
    } else {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   792
        if (!(sdo = ec_slave_get_sdo_const(
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   793
                        slave, data.sdo_spec))) {
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2027
diff changeset
   794
            ec_mutex_unlock(&master->master_mutex);
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   795
            EC_SLAVE_ERR(slave, "SDO 0x%04X does not exist!\n",
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   796
                    data.sdo_spec);
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   797
            return -EINVAL;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   798
        }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   799
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   800
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   801
    if (!(entry = ec_sdo_get_entry_const(
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   802
                    sdo, data.sdo_entry_subindex))) {
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2027
diff changeset
   803
        ec_mutex_unlock(&master->master_mutex);
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   804
        EC_SLAVE_ERR(slave, "SDO entry 0x%04X:%02X does not exist!\n",
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   805
                sdo->index, data.sdo_entry_subindex);
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   806
        return -EINVAL;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   807
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   808
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   809
    data.data_type = entry->data_type;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   810
    data.bit_length = entry->bit_length;
1382
cb2188d111f3 Read SDO entry access rights.
Florian Pose <fp@igh-essen.com>
parents: 1381
diff changeset
   811
    data.read_access[EC_SDO_ENTRY_ACCESS_PREOP] =
cb2188d111f3 Read SDO entry access rights.
Florian Pose <fp@igh-essen.com>
parents: 1381
diff changeset
   812
        entry->read_access[EC_SDO_ENTRY_ACCESS_PREOP];
cb2188d111f3 Read SDO entry access rights.
Florian Pose <fp@igh-essen.com>
parents: 1381
diff changeset
   813
    data.read_access[EC_SDO_ENTRY_ACCESS_SAFEOP] =
cb2188d111f3 Read SDO entry access rights.
Florian Pose <fp@igh-essen.com>
parents: 1381
diff changeset
   814
        entry->read_access[EC_SDO_ENTRY_ACCESS_SAFEOP];
cb2188d111f3 Read SDO entry access rights.
Florian Pose <fp@igh-essen.com>
parents: 1381
diff changeset
   815
    data.read_access[EC_SDO_ENTRY_ACCESS_OP] =
cb2188d111f3 Read SDO entry access rights.
Florian Pose <fp@igh-essen.com>
parents: 1381
diff changeset
   816
        entry->read_access[EC_SDO_ENTRY_ACCESS_OP];
cb2188d111f3 Read SDO entry access rights.
Florian Pose <fp@igh-essen.com>
parents: 1381
diff changeset
   817
    data.write_access[EC_SDO_ENTRY_ACCESS_PREOP] =
cb2188d111f3 Read SDO entry access rights.
Florian Pose <fp@igh-essen.com>
parents: 1381
diff changeset
   818
        entry->write_access[EC_SDO_ENTRY_ACCESS_PREOP];
cb2188d111f3 Read SDO entry access rights.
Florian Pose <fp@igh-essen.com>
parents: 1381
diff changeset
   819
    data.write_access[EC_SDO_ENTRY_ACCESS_SAFEOP] =
cb2188d111f3 Read SDO entry access rights.
Florian Pose <fp@igh-essen.com>
parents: 1381
diff changeset
   820
        entry->write_access[EC_SDO_ENTRY_ACCESS_SAFEOP];
cb2188d111f3 Read SDO entry access rights.
Florian Pose <fp@igh-essen.com>
parents: 1381
diff changeset
   821
    data.write_access[EC_SDO_ENTRY_ACCESS_OP] =
cb2188d111f3 Read SDO entry access rights.
Florian Pose <fp@igh-essen.com>
parents: 1381
diff changeset
   822
        entry->write_access[EC_SDO_ENTRY_ACCESS_OP];
1108
7beba3e7e6b4 Added ec_cdev_strcpy() function.
Florian Pose <fp@igh-essen.com>
parents: 1092
diff changeset
   823
    ec_cdev_strcpy(data.description, entry->description);
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   824
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2027
diff changeset
   825
    ec_mutex_unlock(&master->master_mutex);
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   826
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   827
    if (copy_to_user((void __user *) arg, &data, sizeof(data)))
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   828
        return -EFAULT;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   829
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   830
    return 0;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   831
}
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   832
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   833
/*****************************************************************************/
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   834
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   835
/** Upload SDO.
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   836
 */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   837
int ec_cdev_ioctl_slave_sdo_upload(
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   838
        ec_master_t *master, /**< EtherCAT master. */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   839
        unsigned long arg /**< ioctl() argument. */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   840
        )
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   841
{
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   842
    ec_ioctl_slave_sdo_upload_t data;
2027
ac35f4d38a31 SDO wait_event() deadlock fixed: refcount ec_master_sdo_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2024
diff changeset
   843
    ec_master_sdo_request_t* request;
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   844
    int retval;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   845
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   846
    if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   847
        return -EFAULT;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   848
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   849
2027
ac35f4d38a31 SDO wait_event() deadlock fixed: refcount ec_master_sdo_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2024
diff changeset
   850
    request = kmalloc(sizeof(*request), GFP_KERNEL);
ac35f4d38a31 SDO wait_event() deadlock fixed: refcount ec_master_sdo_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2024
diff changeset
   851
    if (!request)
ac35f4d38a31 SDO wait_event() deadlock fixed: refcount ec_master_sdo_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2024
diff changeset
   852
        return -ENOMEM;
ac35f4d38a31 SDO wait_event() deadlock fixed: refcount ec_master_sdo_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2024
diff changeset
   853
    kref_init(&request->refcount);
ac35f4d38a31 SDO wait_event() deadlock fixed: refcount ec_master_sdo_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2024
diff changeset
   854
ac35f4d38a31 SDO wait_event() deadlock fixed: refcount ec_master_sdo_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2024
diff changeset
   855
    ec_sdo_request_init(&request->req);
ac35f4d38a31 SDO wait_event() deadlock fixed: refcount ec_master_sdo_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2024
diff changeset
   856
    ec_sdo_request_address(&request->req,
ac35f4d38a31 SDO wait_event() deadlock fixed: refcount ec_master_sdo_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2024
diff changeset
   857
        data.sdo_index, data.sdo_entry_subindex);
ac35f4d38a31 SDO wait_event() deadlock fixed: refcount ec_master_sdo_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2024
diff changeset
   858
    ecrt_sdo_request_read(&request->req);
ac35f4d38a31 SDO wait_event() deadlock fixed: refcount ec_master_sdo_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2024
diff changeset
   859
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2027
diff changeset
   860
    if (ec_mutex_lock_interruptible(&master->master_mutex))  {
2027
ac35f4d38a31 SDO wait_event() deadlock fixed: refcount ec_master_sdo_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2024
diff changeset
   861
        kref_put(&request->refcount,ec_master_sdo_request_release);
ac35f4d38a31 SDO wait_event() deadlock fixed: refcount ec_master_sdo_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2024
diff changeset
   862
        return -EINTR;
ac35f4d38a31 SDO wait_event() deadlock fixed: refcount ec_master_sdo_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2024
diff changeset
   863
    }
ac35f4d38a31 SDO wait_event() deadlock fixed: refcount ec_master_sdo_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2024
diff changeset
   864
    if (!(request->slave = ec_master_find_slave(
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   865
                    master, 0, data.slave_position))) {
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2027
diff changeset
   866
        ec_mutex_unlock(&master->master_mutex);
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   867
        EC_MASTER_ERR(master, "Slave %u does not exist!\n",
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   868
                data.slave_position);
2034
ca03a6737cb7 releasing of refcounted requests fixed: do not call EC_SLAVE_DBG without valid slave
Martin Troxler <ch1010277@ch10pc446>
parents: 2031
diff changeset
   869
        kref_put(&request->refcount,ec_master_sdo_request_release);
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   870
        return -EINVAL;
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   871
    }
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   872
2027
ac35f4d38a31 SDO wait_event() deadlock fixed: refcount ec_master_sdo_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2024
diff changeset
   873
    EC_SLAVE_DBG(request->slave, 1, "Schedule SDO upload request %p.\n",request);
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   874
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   875
    // schedule request.
2027
ac35f4d38a31 SDO wait_event() deadlock fixed: refcount ec_master_sdo_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2024
diff changeset
   876
    kref_get(&request->refcount);
ac35f4d38a31 SDO wait_event() deadlock fixed: refcount ec_master_sdo_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2024
diff changeset
   877
    list_add_tail(&request->list, &request->slave->slave_sdo_requests);
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   878
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2027
diff changeset
   879
    ec_mutex_unlock(&master->master_mutex);
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   880
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   881
    // wait for processing through FSM
2027
ac35f4d38a31 SDO wait_event() deadlock fixed: refcount ec_master_sdo_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2024
diff changeset
   882
    if (wait_event_interruptible(request->slave->sdo_queue,
ac35f4d38a31 SDO wait_event() deadlock fixed: refcount ec_master_sdo_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2024
diff changeset
   883
          ((request->req.state == EC_INT_REQUEST_SUCCESS) || (request->req.state == EC_INT_REQUEST_FAILURE)))) {
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   884
        // interrupted by signal
2027
ac35f4d38a31 SDO wait_event() deadlock fixed: refcount ec_master_sdo_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2024
diff changeset
   885
        kref_put(&request->refcount,ec_master_sdo_request_release);
ac35f4d38a31 SDO wait_event() deadlock fixed: refcount ec_master_sdo_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2024
diff changeset
   886
        return -EINTR;
ac35f4d38a31 SDO wait_event() deadlock fixed: refcount ec_master_sdo_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2024
diff changeset
   887
    }
ac35f4d38a31 SDO wait_event() deadlock fixed: refcount ec_master_sdo_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2024
diff changeset
   888
ac35f4d38a31 SDO wait_event() deadlock fixed: refcount ec_master_sdo_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2024
diff changeset
   889
    EC_SLAVE_DBG(request->slave, 1, "Finished SDO upload request %p.\n",request);
ac35f4d38a31 SDO wait_event() deadlock fixed: refcount ec_master_sdo_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2024
diff changeset
   890
ac35f4d38a31 SDO wait_event() deadlock fixed: refcount ec_master_sdo_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2024
diff changeset
   891
    data.abort_code = request->req.abort_code;
ac35f4d38a31 SDO wait_event() deadlock fixed: refcount ec_master_sdo_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2024
diff changeset
   892
ac35f4d38a31 SDO wait_event() deadlock fixed: refcount ec_master_sdo_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2024
diff changeset
   893
    if (request->req.state != EC_INT_REQUEST_SUCCESS) {
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   894
        data.data_size = 0;
2027
ac35f4d38a31 SDO wait_event() deadlock fixed: refcount ec_master_sdo_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2024
diff changeset
   895
        if (request->req.errno) {
ac35f4d38a31 SDO wait_event() deadlock fixed: refcount ec_master_sdo_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2024
diff changeset
   896
            retval = -request->req.errno;
1948
fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface.
Florian Pose <fp@igh-essen.com>
parents: 1947
diff changeset
   897
        } else {
fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface.
Florian Pose <fp@igh-essen.com>
parents: 1947
diff changeset
   898
            retval = -EIO;
fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface.
Florian Pose <fp@igh-essen.com>
parents: 1947
diff changeset
   899
        }
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   900
    } else {
2027
ac35f4d38a31 SDO wait_event() deadlock fixed: refcount ec_master_sdo_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2024
diff changeset
   901
        if (request->req.data_size > data.target_size) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   902
            EC_MASTER_ERR(master, "Buffer too small.\n");
2027
ac35f4d38a31 SDO wait_event() deadlock fixed: refcount ec_master_sdo_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2024
diff changeset
   903
            kref_put(&request->refcount,ec_master_sdo_request_release);
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   904
            return -EOVERFLOW;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   905
        }
2027
ac35f4d38a31 SDO wait_event() deadlock fixed: refcount ec_master_sdo_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2024
diff changeset
   906
        data.data_size = request->req.data_size;
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   907
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   908
        if (copy_to_user((void __user *) data.target,
2027
ac35f4d38a31 SDO wait_event() deadlock fixed: refcount ec_master_sdo_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2024
diff changeset
   909
                    request->req.data, data.data_size)) {
ac35f4d38a31 SDO wait_event() deadlock fixed: refcount ec_master_sdo_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2024
diff changeset
   910
            kref_put(&request->refcount,ec_master_sdo_request_release);
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   911
            return -EFAULT;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   912
        }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   913
        retval = 0;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   914
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   915
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   916
    if (__copy_to_user((void __user *) arg, &data, sizeof(data))) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   917
        retval = -EFAULT;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   918
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   919
2027
ac35f4d38a31 SDO wait_event() deadlock fixed: refcount ec_master_sdo_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2024
diff changeset
   920
    kref_put(&request->refcount,ec_master_sdo_request_release);
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   921
    return retval;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   922
}
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   923
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   924
/*****************************************************************************/
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   925
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   926
/** Download SDO.
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   927
 */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   928
int ec_cdev_ioctl_slave_sdo_download(
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   929
        ec_master_t *master, /**< EtherCAT master. */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   930
        unsigned long arg /**< ioctl() argument. */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   931
        )
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   932
{
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   933
    ec_ioctl_slave_sdo_download_t data;
2027
ac35f4d38a31 SDO wait_event() deadlock fixed: refcount ec_master_sdo_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2024
diff changeset
   934
    ec_master_sdo_request_t* request;
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   935
    int retval;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   936
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   937
    if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   938
        return -EFAULT;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   939
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   940
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   941
    // copy data to download
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   942
    if (!data.data_size) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   943
        EC_MASTER_ERR(master, "Zero data size!\n");
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   944
        return -EINVAL;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   945
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   946
2027
ac35f4d38a31 SDO wait_event() deadlock fixed: refcount ec_master_sdo_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2024
diff changeset
   947
    request = kmalloc(sizeof(*request), GFP_KERNEL);
ac35f4d38a31 SDO wait_event() deadlock fixed: refcount ec_master_sdo_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2024
diff changeset
   948
    if (!request)
ac35f4d38a31 SDO wait_event() deadlock fixed: refcount ec_master_sdo_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2024
diff changeset
   949
        return -ENOMEM;
ac35f4d38a31 SDO wait_event() deadlock fixed: refcount ec_master_sdo_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2024
diff changeset
   950
    kref_init(&request->refcount);
ac35f4d38a31 SDO wait_event() deadlock fixed: refcount ec_master_sdo_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2024
diff changeset
   951
ac35f4d38a31 SDO wait_event() deadlock fixed: refcount ec_master_sdo_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2024
diff changeset
   952
    ec_sdo_request_init(&request->req);
ac35f4d38a31 SDO wait_event() deadlock fixed: refcount ec_master_sdo_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2024
diff changeset
   953
    ec_sdo_request_address(&request->req,
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   954
            data.sdo_index, data.sdo_entry_subindex);
2027
ac35f4d38a31 SDO wait_event() deadlock fixed: refcount ec_master_sdo_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2024
diff changeset
   955
    if (ec_sdo_request_alloc(&request->req, data.data_size)) {
ac35f4d38a31 SDO wait_event() deadlock fixed: refcount ec_master_sdo_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2024
diff changeset
   956
        kref_put(&request->refcount,ec_master_sdo_request_release);
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   957
        return -ENOMEM;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   958
    }
2027
ac35f4d38a31 SDO wait_event() deadlock fixed: refcount ec_master_sdo_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2024
diff changeset
   959
    if (copy_from_user(request->req.data,
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   960
                (void __user *) data.data, data.data_size)) {
2027
ac35f4d38a31 SDO wait_event() deadlock fixed: refcount ec_master_sdo_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2024
diff changeset
   961
        kref_put(&request->refcount,ec_master_sdo_request_release);
ac35f4d38a31 SDO wait_event() deadlock fixed: refcount ec_master_sdo_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2024
diff changeset
   962
        return -EFAULT;
ac35f4d38a31 SDO wait_event() deadlock fixed: refcount ec_master_sdo_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2024
diff changeset
   963
    }
ac35f4d38a31 SDO wait_event() deadlock fixed: refcount ec_master_sdo_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2024
diff changeset
   964
    request->req.data_size = data.data_size;
ac35f4d38a31 SDO wait_event() deadlock fixed: refcount ec_master_sdo_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2024
diff changeset
   965
    ecrt_sdo_request_write(&request->req);
ac35f4d38a31 SDO wait_event() deadlock fixed: refcount ec_master_sdo_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2024
diff changeset
   966
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2027
diff changeset
   967
    if (ec_mutex_lock_interruptible(&master->master_mutex)) {
2027
ac35f4d38a31 SDO wait_event() deadlock fixed: refcount ec_master_sdo_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2024
diff changeset
   968
        kref_put(&request->refcount,ec_master_sdo_request_release);
ac35f4d38a31 SDO wait_event() deadlock fixed: refcount ec_master_sdo_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2024
diff changeset
   969
        return -EINTR;
ac35f4d38a31 SDO wait_event() deadlock fixed: refcount ec_master_sdo_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2024
diff changeset
   970
    }
ac35f4d38a31 SDO wait_event() deadlock fixed: refcount ec_master_sdo_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2024
diff changeset
   971
    if (!(request->slave = ec_master_find_slave(
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   972
                    master, 0, data.slave_position))) {
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2027
diff changeset
   973
        ec_mutex_unlock(&master->master_mutex);
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   974
        EC_MASTER_ERR(master, "Slave %u does not exist!\n",
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   975
                data.slave_position);
2027
ac35f4d38a31 SDO wait_event() deadlock fixed: refcount ec_master_sdo_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2024
diff changeset
   976
        kref_put(&request->refcount,ec_master_sdo_request_release);
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   977
        return -EINVAL;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   978
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   979
    
2027
ac35f4d38a31 SDO wait_event() deadlock fixed: refcount ec_master_sdo_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2024
diff changeset
   980
    EC_SLAVE_DBG(request->slave, 1, "Schedule SDO download request %p.\n",request);
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
   981
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   982
    // schedule request.
2027
ac35f4d38a31 SDO wait_event() deadlock fixed: refcount ec_master_sdo_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2024
diff changeset
   983
    kref_get(&request->refcount);
ac35f4d38a31 SDO wait_event() deadlock fixed: refcount ec_master_sdo_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2024
diff changeset
   984
    list_add_tail(&request->list, &request->slave->slave_sdo_requests);
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   985
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2027
diff changeset
   986
    ec_mutex_unlock(&master->master_mutex);
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   987
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   988
    // wait for processing through FSM
2027
ac35f4d38a31 SDO wait_event() deadlock fixed: refcount ec_master_sdo_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2024
diff changeset
   989
    if (wait_event_interruptible(request->slave->sdo_queue,
ac35f4d38a31 SDO wait_event() deadlock fixed: refcount ec_master_sdo_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2024
diff changeset
   990
       ((request->req.state == EC_INT_REQUEST_SUCCESS) || (request->req.state == EC_INT_REQUEST_FAILURE)))) {
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
   991
        // interrupted by signal
2027
ac35f4d38a31 SDO wait_event() deadlock fixed: refcount ec_master_sdo_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2024
diff changeset
   992
        kref_put(&request->refcount,ec_master_sdo_request_release);
ac35f4d38a31 SDO wait_event() deadlock fixed: refcount ec_master_sdo_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2024
diff changeset
   993
        return -EINTR;
ac35f4d38a31 SDO wait_event() deadlock fixed: refcount ec_master_sdo_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2024
diff changeset
   994
    }
ac35f4d38a31 SDO wait_event() deadlock fixed: refcount ec_master_sdo_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2024
diff changeset
   995
ac35f4d38a31 SDO wait_event() deadlock fixed: refcount ec_master_sdo_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2024
diff changeset
   996
    EC_SLAVE_DBG(request->slave, 1, "Finished SDO download request %p.\n",request);
ac35f4d38a31 SDO wait_event() deadlock fixed: refcount ec_master_sdo_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2024
diff changeset
   997
ac35f4d38a31 SDO wait_event() deadlock fixed: refcount ec_master_sdo_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2024
diff changeset
   998
    data.abort_code = request->req.abort_code;
ac35f4d38a31 SDO wait_event() deadlock fixed: refcount ec_master_sdo_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2024
diff changeset
   999
ac35f4d38a31 SDO wait_event() deadlock fixed: refcount ec_master_sdo_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2024
diff changeset
  1000
    if (request->req.state == EC_INT_REQUEST_SUCCESS) {
1948
fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface.
Florian Pose <fp@igh-essen.com>
parents: 1947
diff changeset
  1001
        retval = 0;
2027
ac35f4d38a31 SDO wait_event() deadlock fixed: refcount ec_master_sdo_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2024
diff changeset
  1002
    } else if (request->req.errno) {
ac35f4d38a31 SDO wait_event() deadlock fixed: refcount ec_master_sdo_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2024
diff changeset
  1003
        retval = -request->req.errno;
1948
fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface.
Florian Pose <fp@igh-essen.com>
parents: 1947
diff changeset
  1004
    } else {
fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface.
Florian Pose <fp@igh-essen.com>
parents: 1947
diff changeset
  1005
        retval = -EIO;
fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface.
Florian Pose <fp@igh-essen.com>
parents: 1947
diff changeset
  1006
    }
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1007
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1008
    if (__copy_to_user((void __user *) arg, &data, sizeof(data))) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1009
        retval = -EFAULT;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1010
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1011
2027
ac35f4d38a31 SDO wait_event() deadlock fixed: refcount ec_master_sdo_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2024
diff changeset
  1012
    kref_put(&request->refcount,ec_master_sdo_request_release);
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1013
    return retval;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1014
}
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1015
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1016
/*****************************************************************************/
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1017
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1018
/** Read a slave's SII.
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1019
 */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1020
int ec_cdev_ioctl_slave_sii_read(
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1021
        ec_master_t *master, /**< EtherCAT master. */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1022
        unsigned long arg /**< ioctl() argument. */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1023
        )
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1024
{
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1025
    ec_ioctl_slave_sii_t data;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1026
    const ec_slave_t *slave;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1027
    int retval;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1028
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1029
    if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1030
        return -EFAULT;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1031
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1032
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2027
diff changeset
  1033
    if (ec_mutex_lock_interruptible(&master->master_mutex))
1189
acc6430bfb32 Use down_interruptible() wherever possible.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
  1034
        return -EINTR;
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1035
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1036
    if (!(slave = ec_master_find_slave_const(
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1037
                    master, 0, data.slave_position))) {
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2027
diff changeset
  1038
        ec_mutex_unlock(&master->master_mutex);
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
  1039
        EC_MASTER_ERR(master, "Slave %u does not exist!\n",
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
  1040
                data.slave_position);
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1041
        return -EINVAL;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1042
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1043
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1044
    if (!data.nwords
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1045
            || data.offset + data.nwords > slave->sii_nwords) {
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2027
diff changeset
  1046
        ec_mutex_unlock(&master->master_mutex);
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
  1047
        EC_SLAVE_ERR(slave, "Invalid SII read offset/size %u/%u for slave SII"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
  1048
                " size %zu!\n", data.offset, data.nwords, slave->sii_nwords);
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1049
        return -EINVAL;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1050
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1051
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1052
    if (copy_to_user((void __user *) data.words,
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1053
                slave->sii_words + data.offset, data.nwords * 2))
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1054
        retval = -EFAULT;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1055
    else
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1056
        retval = 0;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1057
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2027
diff changeset
  1058
    ec_mutex_unlock(&master->master_mutex);
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1059
    return retval;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1060
}
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1061
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1062
/*****************************************************************************/
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1063
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1064
/** Write a slave's SII.
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1065
 */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1066
int ec_cdev_ioctl_slave_sii_write(
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1067
        ec_master_t *master, /**< EtherCAT master. */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1068
        unsigned long arg /**< ioctl() argument. */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1069
        )
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1070
{
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1071
    ec_ioctl_slave_sii_t data;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1072
    ec_slave_t *slave;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1073
    unsigned int byte_size;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1074
    uint16_t *words;
2030
2bd8ad8bf41f Sii write wait_event() deadlock fixed: use wait_event_interruptible and refcount ec_master_sii_write_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2029
diff changeset
  1075
    ec_sii_write_request_t* request;
2bd8ad8bf41f Sii write wait_event() deadlock fixed: use wait_event_interruptible and refcount ec_master_sii_write_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2029
diff changeset
  1076
    int retval;
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1077
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1078
    if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1079
        return -EFAULT;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1080
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1081
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1082
    if (!data.nwords)
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1083
        return 0;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1084
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1085
    byte_size = sizeof(uint16_t) * data.nwords;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1086
    if (!(words = kmalloc(byte_size, GFP_KERNEL))) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
  1087
        EC_MASTER_ERR(master, "Failed to allocate %u bytes"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
  1088
                " for SII contents.\n", byte_size);
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1089
        return -ENOMEM;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1090
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1091
2030
2bd8ad8bf41f Sii write wait_event() deadlock fixed: use wait_event_interruptible and refcount ec_master_sii_write_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2029
diff changeset
  1092
    request = kmalloc(sizeof(*request), GFP_KERNEL);
2bd8ad8bf41f Sii write wait_event() deadlock fixed: use wait_event_interruptible and refcount ec_master_sii_write_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2029
diff changeset
  1093
    if (!request)
2bd8ad8bf41f Sii write wait_event() deadlock fixed: use wait_event_interruptible and refcount ec_master_sii_write_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2029
diff changeset
  1094
        return -ENOMEM;
2bd8ad8bf41f Sii write wait_event() deadlock fixed: use wait_event_interruptible and refcount ec_master_sii_write_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2029
diff changeset
  1095
    kref_init(&request->refcount);
2bd8ad8bf41f Sii write wait_event() deadlock fixed: use wait_event_interruptible and refcount ec_master_sii_write_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2029
diff changeset
  1096
    // init SII write request
2bd8ad8bf41f Sii write wait_event() deadlock fixed: use wait_event_interruptible and refcount ec_master_sii_write_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2029
diff changeset
  1097
    INIT_LIST_HEAD(&request->list);
2bd8ad8bf41f Sii write wait_event() deadlock fixed: use wait_event_interruptible and refcount ec_master_sii_write_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2029
diff changeset
  1098
    request->words = words; // now "owned" by request, see ec_master_sii_write_request_release
2bd8ad8bf41f Sii write wait_event() deadlock fixed: use wait_event_interruptible and refcount ec_master_sii_write_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2029
diff changeset
  1099
    request->offset = data.offset;
2bd8ad8bf41f Sii write wait_event() deadlock fixed: use wait_event_interruptible and refcount ec_master_sii_write_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2029
diff changeset
  1100
    request->nwords = data.nwords;
2bd8ad8bf41f Sii write wait_event() deadlock fixed: use wait_event_interruptible and refcount ec_master_sii_write_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2029
diff changeset
  1101
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1102
    if (copy_from_user(words,
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1103
                (void __user *) data.words, byte_size)) {
2030
2bd8ad8bf41f Sii write wait_event() deadlock fixed: use wait_event_interruptible and refcount ec_master_sii_write_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2029
diff changeset
  1104
        kref_put(&request->refcount,ec_master_sii_write_request_release);
2bd8ad8bf41f Sii write wait_event() deadlock fixed: use wait_event_interruptible and refcount ec_master_sii_write_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2029
diff changeset
  1105
        return -EFAULT;
2bd8ad8bf41f Sii write wait_event() deadlock fixed: use wait_event_interruptible and refcount ec_master_sii_write_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2029
diff changeset
  1106
    }
2bd8ad8bf41f Sii write wait_event() deadlock fixed: use wait_event_interruptible and refcount ec_master_sii_write_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2029
diff changeset
  1107
2bd8ad8bf41f Sii write wait_event() deadlock fixed: use wait_event_interruptible and refcount ec_master_sii_write_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2029
diff changeset
  1108
    if (ec_mutex_lock_interruptible(&master->master_mutex)) {
2bd8ad8bf41f Sii write wait_event() deadlock fixed: use wait_event_interruptible and refcount ec_master_sii_write_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2029
diff changeset
  1109
        kref_put(&request->refcount,ec_master_sii_write_request_release);
2bd8ad8bf41f Sii write wait_event() deadlock fixed: use wait_event_interruptible and refcount ec_master_sii_write_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2029
diff changeset
  1110
        return -EINTR;
2bd8ad8bf41f Sii write wait_event() deadlock fixed: use wait_event_interruptible and refcount ec_master_sii_write_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2029
diff changeset
  1111
    }
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1112
    if (!(slave = ec_master_find_slave(
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1113
                    master, 0, data.slave_position))) {
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2027
diff changeset
  1114
        ec_mutex_unlock(&master->master_mutex);
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
  1115
        EC_MASTER_ERR(master, "Slave %u does not exist!\n",
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
  1116
                data.slave_position);
2030
2bd8ad8bf41f Sii write wait_event() deadlock fixed: use wait_event_interruptible and refcount ec_master_sii_write_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2029
diff changeset
  1117
        kref_put(&request->refcount,ec_master_sii_write_request_release);
2bd8ad8bf41f Sii write wait_event() deadlock fixed: use wait_event_interruptible and refcount ec_master_sii_write_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2029
diff changeset
  1118
        return -EINVAL;
2bd8ad8bf41f Sii write wait_event() deadlock fixed: use wait_event_interruptible and refcount ec_master_sii_write_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2029
diff changeset
  1119
    }
2bd8ad8bf41f Sii write wait_event() deadlock fixed: use wait_event_interruptible and refcount ec_master_sii_write_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2029
diff changeset
  1120
2bd8ad8bf41f Sii write wait_event() deadlock fixed: use wait_event_interruptible and refcount ec_master_sii_write_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2029
diff changeset
  1121
    request->slave = slave;
2bd8ad8bf41f Sii write wait_event() deadlock fixed: use wait_event_interruptible and refcount ec_master_sii_write_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2029
diff changeset
  1122
    request->state = EC_INT_REQUEST_QUEUED;
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1123
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1124
    // schedule SII write request.
2030
2bd8ad8bf41f Sii write wait_event() deadlock fixed: use wait_event_interruptible and refcount ec_master_sii_write_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2029
diff changeset
  1125
    list_add_tail(&request->list, &master->sii_requests);
2bd8ad8bf41f Sii write wait_event() deadlock fixed: use wait_event_interruptible and refcount ec_master_sii_write_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2029
diff changeset
  1126
    kref_get(&request->refcount);
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1127
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2027
diff changeset
  1128
    ec_mutex_unlock(&master->master_mutex);
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1129
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1130
    // wait for processing through FSM
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1131
    if (wait_event_interruptible(master->sii_queue,
2030
2bd8ad8bf41f Sii write wait_event() deadlock fixed: use wait_event_interruptible and refcount ec_master_sii_write_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2029
diff changeset
  1132
          ((request->state == EC_INT_REQUEST_SUCCESS) || (request->state == EC_INT_REQUEST_FAILURE)))) {
2bd8ad8bf41f Sii write wait_event() deadlock fixed: use wait_event_interruptible and refcount ec_master_sii_write_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2029
diff changeset
  1133
           // interrupted by signal
2bd8ad8bf41f Sii write wait_event() deadlock fixed: use wait_event_interruptible and refcount ec_master_sii_write_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2029
diff changeset
  1134
           kref_put(&request->refcount,ec_master_sii_write_request_release);
2bd8ad8bf41f Sii write wait_event() deadlock fixed: use wait_event_interruptible and refcount ec_master_sii_write_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2029
diff changeset
  1135
           return -EINTR;
2bd8ad8bf41f Sii write wait_event() deadlock fixed: use wait_event_interruptible and refcount ec_master_sii_write_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2029
diff changeset
  1136
    }
2bd8ad8bf41f Sii write wait_event() deadlock fixed: use wait_event_interruptible and refcount ec_master_sii_write_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2029
diff changeset
  1137
2bd8ad8bf41f Sii write wait_event() deadlock fixed: use wait_event_interruptible and refcount ec_master_sii_write_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2029
diff changeset
  1138
2bd8ad8bf41f Sii write wait_event() deadlock fixed: use wait_event_interruptible and refcount ec_master_sii_write_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2029
diff changeset
  1139
    retval = request->state == EC_INT_REQUEST_SUCCESS ? 0 : -EIO;
2bd8ad8bf41f Sii write wait_event() deadlock fixed: use wait_event_interruptible and refcount ec_master_sii_write_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2029
diff changeset
  1140
    kref_put(&request->refcount,ec_master_sii_write_request_release);
2bd8ad8bf41f Sii write wait_event() deadlock fixed: use wait_event_interruptible and refcount ec_master_sii_write_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2029
diff changeset
  1141
2bd8ad8bf41f Sii write wait_event() deadlock fixed: use wait_event_interruptible and refcount ec_master_sii_write_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2029
diff changeset
  1142
    return retval;
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1143
}
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1144
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1145
/*****************************************************************************/
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1146
1388
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents: 1382
diff changeset
  1147
/** Read a slave's registers.
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents: 1382
diff changeset
  1148
 */
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents: 1382
diff changeset
  1149
int ec_cdev_ioctl_slave_reg_read(
1200
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1150
        ec_master_t *master, /**< EtherCAT master. */
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1151
        unsigned long arg /**< ioctl() argument. */
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1152
        )
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1153
{
1388
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents: 1382
diff changeset
  1154
    ec_ioctl_slave_reg_t data;
1200
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1155
    ec_slave_t *slave;
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1156
    uint8_t *contents;
2031
7a025a9e192d Register read/write wait_event() deadlock fixed: use wait_event_interruptible and refcount ec_reg_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2030
diff changeset
  1157
    ec_reg_request_t* request;
7a025a9e192d Register read/write wait_event() deadlock fixed: use wait_event_interruptible and refcount ec_reg_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2030
diff changeset
  1158
    int retval;
1200
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1159
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1160
    if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1161
        return -EFAULT;
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1162
    }
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1163
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1164
    if (!data.length)
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1165
        return 0;
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1166
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1167
    if (!(contents = kmalloc(data.length, GFP_KERNEL))) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
  1168
        EC_MASTER_ERR(master, "Failed to allocate %u bytes"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
  1169
                " for register data.\n", data.length);
1200
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1170
        return -ENOMEM;
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1171
    }
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1172
2031
7a025a9e192d Register read/write wait_event() deadlock fixed: use wait_event_interruptible and refcount ec_reg_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2030
diff changeset
  1173
    request = kmalloc(sizeof(*request), GFP_KERNEL);
7a025a9e192d Register read/write wait_event() deadlock fixed: use wait_event_interruptible and refcount ec_reg_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2030
diff changeset
  1174
    if (!request)
7a025a9e192d Register read/write wait_event() deadlock fixed: use wait_event_interruptible and refcount ec_reg_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2030
diff changeset
  1175
        return -ENOMEM;
7a025a9e192d Register read/write wait_event() deadlock fixed: use wait_event_interruptible and refcount ec_reg_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2030
diff changeset
  1176
    kref_init(&request->refcount);
7a025a9e192d Register read/write wait_event() deadlock fixed: use wait_event_interruptible and refcount ec_reg_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2030
diff changeset
  1177
7a025a9e192d Register read/write wait_event() deadlock fixed: use wait_event_interruptible and refcount ec_reg_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2030
diff changeset
  1178
    // init register request
7a025a9e192d Register read/write wait_event() deadlock fixed: use wait_event_interruptible and refcount ec_reg_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2030
diff changeset
  1179
    INIT_LIST_HEAD(&request->list);
7a025a9e192d Register read/write wait_event() deadlock fixed: use wait_event_interruptible and refcount ec_reg_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2030
diff changeset
  1180
    request->dir = EC_DIR_INPUT;
7a025a9e192d Register read/write wait_event() deadlock fixed: use wait_event_interruptible and refcount ec_reg_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2030
diff changeset
  1181
    request->data = contents;   // now "owned" by request, see ec_master_reg_request_release
7a025a9e192d Register read/write wait_event() deadlock fixed: use wait_event_interruptible and refcount ec_reg_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2030
diff changeset
  1182
    request->offset = data.offset;
7a025a9e192d Register read/write wait_event() deadlock fixed: use wait_event_interruptible and refcount ec_reg_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2030
diff changeset
  1183
    request->length = data.length;
7a025a9e192d Register read/write wait_event() deadlock fixed: use wait_event_interruptible and refcount ec_reg_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2030
diff changeset
  1184
7a025a9e192d Register read/write wait_event() deadlock fixed: use wait_event_interruptible and refcount ec_reg_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2030
diff changeset
  1185
    if (ec_mutex_lock_interruptible(&master->master_mutex)) {
7a025a9e192d Register read/write wait_event() deadlock fixed: use wait_event_interruptible and refcount ec_reg_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2030
diff changeset
  1186
        kref_put(&request->refcount,ec_master_reg_request_release);
7a025a9e192d Register read/write wait_event() deadlock fixed: use wait_event_interruptible and refcount ec_reg_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2030
diff changeset
  1187
        return -EINTR;
7a025a9e192d Register read/write wait_event() deadlock fixed: use wait_event_interruptible and refcount ec_reg_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2030
diff changeset
  1188
    }
1200
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1189
    if (!(slave = ec_master_find_slave(
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1190
                    master, 0, data.slave_position))) {
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2027
diff changeset
  1191
        ec_mutex_unlock(&master->master_mutex);
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
  1192
        EC_MASTER_ERR(master, "Slave %u does not exist!\n",
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
  1193
                data.slave_position);
2031
7a025a9e192d Register read/write wait_event() deadlock fixed: use wait_event_interruptible and refcount ec_reg_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2030
diff changeset
  1194
        kref_put(&request->refcount,ec_master_reg_request_release);
7a025a9e192d Register read/write wait_event() deadlock fixed: use wait_event_interruptible and refcount ec_reg_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2030
diff changeset
  1195
        return -EINVAL;
7a025a9e192d Register read/write wait_event() deadlock fixed: use wait_event_interruptible and refcount ec_reg_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2030
diff changeset
  1196
    }
7a025a9e192d Register read/write wait_event() deadlock fixed: use wait_event_interruptible and refcount ec_reg_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2030
diff changeset
  1197
7a025a9e192d Register read/write wait_event() deadlock fixed: use wait_event_interruptible and refcount ec_reg_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2030
diff changeset
  1198
    request->slave = slave;
7a025a9e192d Register read/write wait_event() deadlock fixed: use wait_event_interruptible and refcount ec_reg_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2030
diff changeset
  1199
    request->state = EC_INT_REQUEST_QUEUED;
1200
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1200
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1201
    // schedule request.
2031
7a025a9e192d Register read/write wait_event() deadlock fixed: use wait_event_interruptible and refcount ec_reg_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2030
diff changeset
  1202
    list_add_tail(&request->list, &master->reg_requests);
7a025a9e192d Register read/write wait_event() deadlock fixed: use wait_event_interruptible and refcount ec_reg_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2030
diff changeset
  1203
    kref_get(&request->refcount);
1200
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1204
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2027
diff changeset
  1205
    ec_mutex_unlock(&master->master_mutex);
1200
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1206
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1207
    // wait for processing through FSM
1388
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents: 1382
diff changeset
  1208
    if (wait_event_interruptible(master->reg_queue,
2031
7a025a9e192d Register read/write wait_event() deadlock fixed: use wait_event_interruptible and refcount ec_reg_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2030
diff changeset
  1209
          ((request->state == EC_INT_REQUEST_SUCCESS) || (request->state == EC_INT_REQUEST_FAILURE)))) {
7a025a9e192d Register read/write wait_event() deadlock fixed: use wait_event_interruptible and refcount ec_reg_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2030
diff changeset
  1210
           // interrupted by signal
7a025a9e192d Register read/write wait_event() deadlock fixed: use wait_event_interruptible and refcount ec_reg_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2030
diff changeset
  1211
           kref_put(&request->refcount,ec_master_reg_request_release);
7a025a9e192d Register read/write wait_event() deadlock fixed: use wait_event_interruptible and refcount ec_reg_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2030
diff changeset
  1212
           return -EINTR;
7a025a9e192d Register read/write wait_event() deadlock fixed: use wait_event_interruptible and refcount ec_reg_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2030
diff changeset
  1213
    }
7a025a9e192d Register read/write wait_event() deadlock fixed: use wait_event_interruptible and refcount ec_reg_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2030
diff changeset
  1214
7a025a9e192d Register read/write wait_event() deadlock fixed: use wait_event_interruptible and refcount ec_reg_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2030
diff changeset
  1215
    if (request->state == EC_INT_REQUEST_SUCCESS) {
7a025a9e192d Register read/write wait_event() deadlock fixed: use wait_event_interruptible and refcount ec_reg_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2030
diff changeset
  1216
        if (copy_to_user((void __user *) data.data, request->data, data.length)) {
7a025a9e192d Register read/write wait_event() deadlock fixed: use wait_event_interruptible and refcount ec_reg_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2030
diff changeset
  1217
            kref_put(&request->refcount,ec_master_reg_request_release);
7a025a9e192d Register read/write wait_event() deadlock fixed: use wait_event_interruptible and refcount ec_reg_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2030
diff changeset
  1218
            return -EFAULT;
1200
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1219
        }
2031
7a025a9e192d Register read/write wait_event() deadlock fixed: use wait_event_interruptible and refcount ec_reg_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2030
diff changeset
  1220
    }
7a025a9e192d Register read/write wait_event() deadlock fixed: use wait_event_interruptible and refcount ec_reg_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2030
diff changeset
  1221
    retval = request->state == EC_INT_REQUEST_SUCCESS ? 0 : -EIO;
7a025a9e192d Register read/write wait_event() deadlock fixed: use wait_event_interruptible and refcount ec_reg_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2030
diff changeset
  1222
7a025a9e192d Register read/write wait_event() deadlock fixed: use wait_event_interruptible and refcount ec_reg_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2030
diff changeset
  1223
    kref_put(&request->refcount,ec_master_reg_request_release);
7a025a9e192d Register read/write wait_event() deadlock fixed: use wait_event_interruptible and refcount ec_reg_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2030
diff changeset
  1224
    return retval;
1200
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1225
}
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1226
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1227
/*****************************************************************************/
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1228
1388
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents: 1382
diff changeset
  1229
/** Write a slave's registers.
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents: 1382
diff changeset
  1230
 */
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents: 1382
diff changeset
  1231
int ec_cdev_ioctl_slave_reg_write(
1200
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1232
        ec_master_t *master, /**< EtherCAT master. */
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1233
        unsigned long arg /**< ioctl() argument. */
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1234
        )
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1235
{
1388
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents: 1382
diff changeset
  1236
    ec_ioctl_slave_reg_t data;
1200
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1237
    ec_slave_t *slave;
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1238
    uint8_t *contents;
2031
7a025a9e192d Register read/write wait_event() deadlock fixed: use wait_event_interruptible and refcount ec_reg_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2030
diff changeset
  1239
    ec_reg_request_t* request;
7a025a9e192d Register read/write wait_event() deadlock fixed: use wait_event_interruptible and refcount ec_reg_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2030
diff changeset
  1240
    int retval;
1200
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1241
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1242
    if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1243
        return -EFAULT;
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1244
    }
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1245
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1246
    if (!data.length)
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1247
        return 0;
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1248
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1249
    if (!(contents = kmalloc(data.length, GFP_KERNEL))) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
  1250
        EC_MASTER_ERR(master, "Failed to allocate %u bytes"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
  1251
                " for register data.\n", data.length);
1200
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1252
        return -ENOMEM;
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1253
    }
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1254
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1255
    if (copy_from_user(contents, (void __user *) data.data, data.length)) {
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1256
        kfree(contents);
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1257
        return -EFAULT;
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1258
    }
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1259
2031
7a025a9e192d Register read/write wait_event() deadlock fixed: use wait_event_interruptible and refcount ec_reg_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2030
diff changeset
  1260
    request = kmalloc(sizeof(*request), GFP_KERNEL);
7a025a9e192d Register read/write wait_event() deadlock fixed: use wait_event_interruptible and refcount ec_reg_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2030
diff changeset
  1261
    if (!request)
7a025a9e192d Register read/write wait_event() deadlock fixed: use wait_event_interruptible and refcount ec_reg_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2030
diff changeset
  1262
        return -ENOMEM;
7a025a9e192d Register read/write wait_event() deadlock fixed: use wait_event_interruptible and refcount ec_reg_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2030
diff changeset
  1263
    kref_init(&request->refcount);
7a025a9e192d Register read/write wait_event() deadlock fixed: use wait_event_interruptible and refcount ec_reg_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2030
diff changeset
  1264
    // init register request
7a025a9e192d Register read/write wait_event() deadlock fixed: use wait_event_interruptible and refcount ec_reg_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2030
diff changeset
  1265
    INIT_LIST_HEAD(&request->list);
7a025a9e192d Register read/write wait_event() deadlock fixed: use wait_event_interruptible and refcount ec_reg_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2030
diff changeset
  1266
    request->dir = EC_DIR_OUTPUT;
7a025a9e192d Register read/write wait_event() deadlock fixed: use wait_event_interruptible and refcount ec_reg_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2030
diff changeset
  1267
    request->data = contents; // now "owned" by request, see ec_master_reg_request_release
7a025a9e192d Register read/write wait_event() deadlock fixed: use wait_event_interruptible and refcount ec_reg_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2030
diff changeset
  1268
    request->offset = data.offset;
7a025a9e192d Register read/write wait_event() deadlock fixed: use wait_event_interruptible and refcount ec_reg_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2030
diff changeset
  1269
    request->length = data.length;
7a025a9e192d Register read/write wait_event() deadlock fixed: use wait_event_interruptible and refcount ec_reg_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2030
diff changeset
  1270
7a025a9e192d Register read/write wait_event() deadlock fixed: use wait_event_interruptible and refcount ec_reg_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2030
diff changeset
  1271
    if (ec_mutex_lock_interruptible(&master->master_mutex)) {
7a025a9e192d Register read/write wait_event() deadlock fixed: use wait_event_interruptible and refcount ec_reg_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2030
diff changeset
  1272
        kref_put(&request->refcount,ec_master_reg_request_release);
7a025a9e192d Register read/write wait_event() deadlock fixed: use wait_event_interruptible and refcount ec_reg_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2030
diff changeset
  1273
        return -EINTR;
7a025a9e192d Register read/write wait_event() deadlock fixed: use wait_event_interruptible and refcount ec_reg_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2030
diff changeset
  1274
    }
1200
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1275
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1276
    if (!(slave = ec_master_find_slave(
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1277
                    master, 0, data.slave_position))) {
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2027
diff changeset
  1278
        ec_mutex_unlock(&master->master_mutex);
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
  1279
        EC_MASTER_ERR(master, "Slave %u does not exist!\n",
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
  1280
                data.slave_position);
2031
7a025a9e192d Register read/write wait_event() deadlock fixed: use wait_event_interruptible and refcount ec_reg_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2030
diff changeset
  1281
        kref_put(&request->refcount,ec_master_reg_request_release);
7a025a9e192d Register read/write wait_event() deadlock fixed: use wait_event_interruptible and refcount ec_reg_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2030
diff changeset
  1282
        return -EINVAL;
7a025a9e192d Register read/write wait_event() deadlock fixed: use wait_event_interruptible and refcount ec_reg_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2030
diff changeset
  1283
    }
7a025a9e192d Register read/write wait_event() deadlock fixed: use wait_event_interruptible and refcount ec_reg_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2030
diff changeset
  1284
7a025a9e192d Register read/write wait_event() deadlock fixed: use wait_event_interruptible and refcount ec_reg_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2030
diff changeset
  1285
    request->slave = slave;
7a025a9e192d Register read/write wait_event() deadlock fixed: use wait_event_interruptible and refcount ec_reg_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2030
diff changeset
  1286
    request->state = EC_INT_REQUEST_QUEUED;
1200
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1287
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1288
    // schedule request.
2031
7a025a9e192d Register read/write wait_event() deadlock fixed: use wait_event_interruptible and refcount ec_reg_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2030
diff changeset
  1289
    list_add_tail(&request->list, &master->reg_requests);
7a025a9e192d Register read/write wait_event() deadlock fixed: use wait_event_interruptible and refcount ec_reg_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2030
diff changeset
  1290
    kref_get(&request->refcount);
1200
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1291
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2027
diff changeset
  1292
    ec_mutex_unlock(&master->master_mutex);
1200
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1293
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1294
    // wait for processing through FSM
1388
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents: 1382
diff changeset
  1295
    if (wait_event_interruptible(master->reg_queue,
2031
7a025a9e192d Register read/write wait_event() deadlock fixed: use wait_event_interruptible and refcount ec_reg_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2030
diff changeset
  1296
          ((request->state == EC_INT_REQUEST_SUCCESS) || (request->state == EC_INT_REQUEST_FAILURE)))) {
7a025a9e192d Register read/write wait_event() deadlock fixed: use wait_event_interruptible and refcount ec_reg_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2030
diff changeset
  1297
           // interrupted by signal
7a025a9e192d Register read/write wait_event() deadlock fixed: use wait_event_interruptible and refcount ec_reg_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2030
diff changeset
  1298
           kref_put(&request->refcount,ec_master_reg_request_release);
7a025a9e192d Register read/write wait_event() deadlock fixed: use wait_event_interruptible and refcount ec_reg_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2030
diff changeset
  1299
           return -EINTR;
7a025a9e192d Register read/write wait_event() deadlock fixed: use wait_event_interruptible and refcount ec_reg_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2030
diff changeset
  1300
    }
7a025a9e192d Register read/write wait_event() deadlock fixed: use wait_event_interruptible and refcount ec_reg_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2030
diff changeset
  1301
7a025a9e192d Register read/write wait_event() deadlock fixed: use wait_event_interruptible and refcount ec_reg_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2030
diff changeset
  1302
    retval = request->state == EC_INT_REQUEST_SUCCESS ? 0 : -EIO;
7a025a9e192d Register read/write wait_event() deadlock fixed: use wait_event_interruptible and refcount ec_reg_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2030
diff changeset
  1303
    kref_put(&request->refcount,ec_master_reg_request_release);
7a025a9e192d Register read/write wait_event() deadlock fixed: use wait_event_interruptible and refcount ec_reg_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2030
diff changeset
  1304
    return retval;
7a025a9e192d Register read/write wait_event() deadlock fixed: use wait_event_interruptible and refcount ec_reg_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2030
diff changeset
  1305
1200
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1306
}
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1307
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1308
/*****************************************************************************/
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  1309
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1310
/** Get slave configuration information.
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1311
 */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1312
int ec_cdev_ioctl_config(
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1313
        ec_master_t *master, /**< EtherCAT master. */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1314
        unsigned long arg /**< ioctl() argument. */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1315
        )
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1316
{
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1317
    ec_ioctl_config_t data;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1318
    const ec_slave_config_t *sc;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1319
    uint8_t i;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1320
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1321
    if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1322
        return -EFAULT;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1323
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1324
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2027
diff changeset
  1325
    if (ec_mutex_lock_interruptible(&master->master_mutex))
1189
acc6430bfb32 Use down_interruptible() wherever possible.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
  1326
        return -EINTR;
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1327
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1328
    if (!(sc = ec_master_get_config_const(
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1329
                    master, data.config_index))) {
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2027
diff changeset
  1330
        ec_mutex_unlock(&master->master_mutex);
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
  1331
        EC_MASTER_ERR(master, "Slave config %u does not exist!\n",
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1332
                data.config_index);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1333
        return -EINVAL;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1334
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1335
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1336
    data.alias = sc->alias;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1337
    data.position = sc->position;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1338
    data.vendor_id = sc->vendor_id;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1339
    data.product_code = sc->product_code;
1082
ff06c58e269c Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Florian Pose <fp@igh-essen.com>
parents: 1079
diff changeset
  1340
    for (i = 0; i < EC_MAX_SYNC_MANAGERS; i++) {
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1341
        data.syncs[i].dir = sc->sync_configs[i].dir;
1518
ab5694a51826 Output watchdog configuration in ethercat config.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  1342
        data.syncs[i].watchdog_mode = sc->sync_configs[i].watchdog_mode;
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1343
        data.syncs[i].pdo_count =
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1344
            ec_pdo_list_count(&sc->sync_configs[i].pdos);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1345
    }
1518
ab5694a51826 Output watchdog configuration in ethercat config.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  1346
    data.watchdog_divider = sc->watchdog_divider;
ab5694a51826 Output watchdog configuration in ethercat config.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  1347
    data.watchdog_intervals = sc->watchdog_intervals;
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1348
    data.sdo_count = ec_slave_config_sdo_count(sc);
1966
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents: 1963
diff changeset
  1349
    data.idn_count = ec_slave_config_idn_count(sc);
1147
0eac1ee8512a Show attached slave position and state in 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 1109
diff changeset
  1350
    data.slave_position = sc->slave ? sc->slave->ring_position : -1;
1455
aa18fcfe0fd1 Output DC config in 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 1454
diff changeset
  1351
    data.dc_assign_activate = sc->dc_assign_activate;
aa18fcfe0fd1 Output DC config in 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 1454
diff changeset
  1352
    for (i = 0; i < EC_SYNC_SIGNAL_COUNT; i++) {
aa18fcfe0fd1 Output DC config in 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 1454
diff changeset
  1353
        data.dc_sync[i] = sc->dc_sync[i];
aa18fcfe0fd1 Output DC config in 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 1454
diff changeset
  1354
    }
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1355
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2027
diff changeset
  1356
    ec_mutex_unlock(&master->master_mutex);
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1357
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1358
    if (copy_to_user((void __user *) arg, &data, sizeof(data)))
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1359
        return -EFAULT;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1360
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1361
    return 0;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1362
}
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1363
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1364
/*****************************************************************************/
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1365
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  1366
/** Get slave configuration PDO information.
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1367
 */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1368
int ec_cdev_ioctl_config_pdo(
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1369
        ec_master_t *master, /**< EtherCAT master. */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1370
        unsigned long arg /**< ioctl() argument. */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1371
        )
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1372
{
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1373
    ec_ioctl_config_pdo_t data;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1374
    const ec_slave_config_t *sc;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1375
    const ec_pdo_t *pdo;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1376
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1377
    if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1378
        return -EFAULT;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1379
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1380
1082
ff06c58e269c Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Florian Pose <fp@igh-essen.com>
parents: 1079
diff changeset
  1381
    if (data.sync_index >= EC_MAX_SYNC_MANAGERS) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
  1382
        EC_MASTER_ERR(master, "Invalid sync manager index %u!\n",
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1383
                data.sync_index);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1384
        return -EINVAL;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1385
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1386
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2027
diff changeset
  1387
    if (ec_mutex_lock_interruptible(&master->master_mutex))
1189
acc6430bfb32 Use down_interruptible() wherever possible.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
  1388
        return -EINTR;
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1389
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1390
    if (!(sc = ec_master_get_config_const(
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1391
                    master, data.config_index))) {
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2027
diff changeset
  1392
        ec_mutex_unlock(&master->master_mutex);
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
  1393
        EC_MASTER_ERR(master, "Slave config %u does not exist!\n",
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1394
                data.config_index);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1395
        return -EINVAL;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1396
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1397
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1398
    if (!(pdo = ec_pdo_list_find_pdo_by_pos_const(
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1399
                    &sc->sync_configs[data.sync_index].pdos,
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1400
                    data.pdo_pos))) {
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2027
diff changeset
  1401
        ec_mutex_unlock(&master->master_mutex);
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
  1402
        EC_MASTER_ERR(master, "Invalid PDO position!\n");
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1403
        return -EINVAL;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1404
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1405
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1406
    data.index = pdo->index;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1407
    data.entry_count = ec_pdo_entry_count(pdo);
1108
7beba3e7e6b4 Added ec_cdev_strcpy() function.
Florian Pose <fp@igh-essen.com>
parents: 1092
diff changeset
  1408
    ec_cdev_strcpy(data.name, pdo->name);
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1409
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2027
diff changeset
  1410
    ec_mutex_unlock(&master->master_mutex);
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1411
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1412
    if (copy_to_user((void __user *) arg, &data, sizeof(data)))
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1413
        return -EFAULT;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1414
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1415
    return 0;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1416
}
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1417
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1418
/*****************************************************************************/
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1419
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  1420
/** Get slave configuration PDO entry information.
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1421
 */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1422
int ec_cdev_ioctl_config_pdo_entry(
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1423
        ec_master_t *master, /**< EtherCAT master. */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1424
        unsigned long arg /**< ioctl() argument. */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1425
        )
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1426
{
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1427
    ec_ioctl_config_pdo_entry_t data;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1428
    const ec_slave_config_t *sc;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1429
    const ec_pdo_t *pdo;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1430
    const ec_pdo_entry_t *entry;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1431
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1432
    if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1433
        return -EFAULT;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1434
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1435
1082
ff06c58e269c Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Florian Pose <fp@igh-essen.com>
parents: 1079
diff changeset
  1436
    if (data.sync_index >= EC_MAX_SYNC_MANAGERS) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
  1437
        EC_MASTER_ERR(master, "Invalid sync manager index %u!\n",
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1438
                data.sync_index);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1439
        return -EINVAL;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1440
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1441
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2027
diff changeset
  1442
    if (ec_mutex_lock_interruptible(&master->master_mutex))
1189
acc6430bfb32 Use down_interruptible() wherever possible.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
  1443
        return -EINTR;
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1444
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1445
    if (!(sc = ec_master_get_config_const(
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1446
                    master, data.config_index))) {
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2027
diff changeset
  1447
        ec_mutex_unlock(&master->master_mutex);
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
  1448
        EC_MASTER_ERR(master, "Slave config %u does not exist!\n",
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1449
                data.config_index);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1450
        return -EINVAL;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1451
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1452
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1453
    if (!(pdo = ec_pdo_list_find_pdo_by_pos_const(
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1454
                    &sc->sync_configs[data.sync_index].pdos,
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1455
                    data.pdo_pos))) {
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2027
diff changeset
  1456
        ec_mutex_unlock(&master->master_mutex);
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
  1457
        EC_MASTER_ERR(master, "Invalid PDO position!\n");
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1458
        return -EINVAL;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1459
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1460
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1461
    if (!(entry = ec_pdo_find_entry_by_pos_const(
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1462
                    pdo, data.entry_pos))) {
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2027
diff changeset
  1463
        ec_mutex_unlock(&master->master_mutex);
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
  1464
        EC_MASTER_ERR(master, "Entry not found!\n");
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1465
        return -EINVAL;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1466
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1467
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1468
    data.index = entry->index;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1469
    data.subindex = entry->subindex;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1470
    data.bit_length = entry->bit_length;
1108
7beba3e7e6b4 Added ec_cdev_strcpy() function.
Florian Pose <fp@igh-essen.com>
parents: 1092
diff changeset
  1471
    ec_cdev_strcpy(data.name, entry->name);
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1472
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2027
diff changeset
  1473
    ec_mutex_unlock(&master->master_mutex);
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1474
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1475
    if (copy_to_user((void __user *) arg, &data, sizeof(data)))
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1476
        return -EFAULT;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1477
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1478
    return 0;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1479
}
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1480
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1481
/*****************************************************************************/
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1482
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  1483
/** Get slave configuration SDO information.
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1484
 */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1485
int ec_cdev_ioctl_config_sdo(
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1486
        ec_master_t *master, /**< EtherCAT master. */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1487
        unsigned long arg /**< ioctl() argument. */
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1488
        )
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1489
{
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1490
    ec_ioctl_config_sdo_t data;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1491
    const ec_slave_config_t *sc;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1492
    const ec_sdo_request_t *req;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1493
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1494
    if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1495
        return -EFAULT;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1496
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1497
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2027
diff changeset
  1498
    if (ec_mutex_lock_interruptible(&master->master_mutex))
1189
acc6430bfb32 Use down_interruptible() wherever possible.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
  1499
        return -EINTR;
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1500
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1501
    if (!(sc = ec_master_get_config_const(
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1502
                    master, data.config_index))) {
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2027
diff changeset
  1503
        ec_mutex_unlock(&master->master_mutex);
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
  1504
        EC_MASTER_ERR(master, "Slave config %u does not exist!\n",
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1505
                data.config_index);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1506
        return -EINVAL;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1507
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1508
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1509
    if (!(req = ec_slave_config_get_sdo_by_pos_const(
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1510
                    sc, data.sdo_pos))) {
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2027
diff changeset
  1511
        ec_mutex_unlock(&master->master_mutex);
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
  1512
        EC_MASTER_ERR(master, "Invalid SDO position!\n");
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1513
        return -EINVAL;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1514
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1515
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1516
    data.index = req->index;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1517
    data.subindex = req->subindex;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1518
    data.size = req->data_size;
1526
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1518
diff changeset
  1519
    memcpy(&data.data, req->data,
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1518
diff changeset
  1520
            min((u32) data.size, (u32) EC_MAX_SDO_DATA_SIZE));
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1521
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2027
diff changeset
  1522
    ec_mutex_unlock(&master->master_mutex);
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1523
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1524
    if (copy_to_user((void __user *) arg, &data, sizeof(data)))
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1525
        return -EFAULT;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1526
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1527
    return 0;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1528
}
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1529
1242
632a6b91f8e4 First version of userspace library with requesting/releasing.
Florian Pose <fp@igh-essen.com>
parents: 1223
diff changeset
  1530
/*****************************************************************************/
632a6b91f8e4 First version of userspace library with requesting/releasing.
Florian Pose <fp@igh-essen.com>
parents: 1223
diff changeset
  1531
1966
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents: 1963
diff changeset
  1532
/** Get slave configuration IDN information.
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents: 1963
diff changeset
  1533
 */
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents: 1963
diff changeset
  1534
int ec_cdev_ioctl_config_idn(
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents: 1963
diff changeset
  1535
        ec_master_t *master, /**< EtherCAT master. */
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents: 1963
diff changeset
  1536
        unsigned long arg /**< ioctl() argument. */
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents: 1963
diff changeset
  1537
        )
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents: 1963
diff changeset
  1538
{
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents: 1963
diff changeset
  1539
    ec_ioctl_config_idn_t data;
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents: 1963
diff changeset
  1540
    const ec_slave_config_t *sc;
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents: 1963
diff changeset
  1541
    const ec_soe_request_t *req;
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents: 1963
diff changeset
  1542
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents: 1963
diff changeset
  1543
    if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents: 1963
diff changeset
  1544
        return -EFAULT;
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents: 1963
diff changeset
  1545
    }
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents: 1963
diff changeset
  1546
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2027
diff changeset
  1547
    if (ec_mutex_lock_interruptible(&master->master_mutex))
1966
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents: 1963
diff changeset
  1548
        return -EINTR;
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents: 1963
diff changeset
  1549
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents: 1963
diff changeset
  1550
    if (!(sc = ec_master_get_config_const(
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents: 1963
diff changeset
  1551
                    master, data.config_index))) {
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2027
diff changeset
  1552
        ec_mutex_unlock(&master->master_mutex);
1966
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents: 1963
diff changeset
  1553
        EC_MASTER_ERR(master, "Slave config %u does not exist!\n",
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents: 1963
diff changeset
  1554
                data.config_index);
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents: 1963
diff changeset
  1555
        return -EINVAL;
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents: 1963
diff changeset
  1556
    }
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents: 1963
diff changeset
  1557
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents: 1963
diff changeset
  1558
    if (!(req = ec_slave_config_get_idn_by_pos_const(
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents: 1963
diff changeset
  1559
                    sc, data.idn_pos))) {
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2027
diff changeset
  1560
        ec_mutex_unlock(&master->master_mutex);
1966
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents: 1963
diff changeset
  1561
        EC_MASTER_ERR(master, "Invalid IDN position!\n");
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents: 1963
diff changeset
  1562
        return -EINVAL;
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents: 1963
diff changeset
  1563
    }
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents: 1963
diff changeset
  1564
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents: 1963
diff changeset
  1565
    data.drive_no = req->drive_no;
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents: 1963
diff changeset
  1566
    data.idn = req->idn;
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents: 1963
diff changeset
  1567
    data.state = req->state;
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents: 1963
diff changeset
  1568
    data.size = req->data_size;
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents: 1963
diff changeset
  1569
    memcpy(&data.data, req->data,
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents: 1963
diff changeset
  1570
            min((u32) data.size, (u32) EC_MAX_IDN_DATA_SIZE));
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents: 1963
diff changeset
  1571
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2027
diff changeset
  1572
    ec_mutex_unlock(&master->master_mutex);
1966
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents: 1963
diff changeset
  1573
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents: 1963
diff changeset
  1574
    if (copy_to_user((void __user *) arg, &data, sizeof(data)))
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents: 1963
diff changeset
  1575
        return -EFAULT;
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents: 1963
diff changeset
  1576
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents: 1963
diff changeset
  1577
    return 0;
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents: 1963
diff changeset
  1578
}
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents: 1963
diff changeset
  1579
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents: 1963
diff changeset
  1580
/*****************************************************************************/
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents: 1963
diff changeset
  1581
1516
e3b09f847512 Fixed compiler error on --disable-eoe.
Florian Pose <fp@igh-essen.com>
parents: 1513
diff changeset
  1582
#ifdef EC_EOE
e3b09f847512 Fixed compiler error on --disable-eoe.
Florian Pose <fp@igh-essen.com>
parents: 1513
diff changeset
  1583
1485
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1465
diff changeset
  1584
/** Get EoE handler information.
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1465
diff changeset
  1585
 */
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1465
diff changeset
  1586
int ec_cdev_ioctl_eoe_handler(
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1465
diff changeset
  1587
        ec_master_t *master, /**< EtherCAT master. */
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1465
diff changeset
  1588
        unsigned long arg /**< ioctl() argument. */
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1465
diff changeset
  1589
        )
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1465
diff changeset
  1590
{
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1465
diff changeset
  1591
    ec_ioctl_eoe_handler_t data;
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1592
    const ec_eoe_t *eoe;
1485
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1465
diff changeset
  1593
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1465
diff changeset
  1594
    if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1465
diff changeset
  1595
        return -EFAULT;
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1465
diff changeset
  1596
    }
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1465
diff changeset
  1597
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2027
diff changeset
  1598
    if (ec_mutex_lock_interruptible(&master->master_mutex))
1485
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1465
diff changeset
  1599
        return -EINTR;
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1465
diff changeset
  1600
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1465
diff changeset
  1601
    if (!(eoe = ec_master_get_eoe_handler_const(master, data.eoe_index))) {
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2027
diff changeset
  1602
        ec_mutex_unlock(&master->master_mutex);
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
  1603
        EC_MASTER_ERR(master, "EoE handler %u does not exist!\n",
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
  1604
                data.eoe_index);
1485
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1465
diff changeset
  1605
        return -EINVAL;
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1465
diff changeset
  1606
    }
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1465
diff changeset
  1607
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1608
    if (eoe->slave) {
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1609
        data.slave_position = eoe->slave->ring_position;
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1610
    } else {
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1611
        data.slave_position = 0xffff;
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1612
    }
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1613
    snprintf(data.name, EC_DATAGRAM_NAME_SIZE, eoe->dev->name);
1485
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1465
diff changeset
  1614
    data.open = eoe->opened;
2023
da133ec36c3a fixed 'ethercat eoe' command: interchanged rx/tx bytes/rates
Martin Troxler <ch1010277@ch10pc446>
parents: 2004
diff changeset
  1615
    data.tx_bytes = eoe->stats.tx_bytes;
da133ec36c3a fixed 'ethercat eoe' command: interchanged rx/tx bytes/rates
Martin Troxler <ch1010277@ch10pc446>
parents: 2004
diff changeset
  1616
    data.tx_rate = eoe->tx_rate;
da133ec36c3a fixed 'ethercat eoe' command: interchanged rx/tx bytes/rates
Martin Troxler <ch1010277@ch10pc446>
parents: 2004
diff changeset
  1617
    data.rx_bytes = eoe->stats.rx_bytes;
1485
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1465
diff changeset
  1618
    data.rx_rate = eoe->tx_rate;
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1465
diff changeset
  1619
    data.tx_queued_frames = eoe->tx_queued_frames;
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1465
diff changeset
  1620
    data.tx_queue_size = eoe->tx_queue_size;
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1465
diff changeset
  1621
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2027
diff changeset
  1622
    ec_mutex_unlock(&master->master_mutex);
1485
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1465
diff changeset
  1623
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1465
diff changeset
  1624
    if (copy_to_user((void __user *) arg, &data, sizeof(data)))
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1465
diff changeset
  1625
        return -EFAULT;
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1465
diff changeset
  1626
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1465
diff changeset
  1627
    return 0;
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1465
diff changeset
  1628
}
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1465
diff changeset
  1629
1516
e3b09f847512 Fixed compiler error on --disable-eoe.
Florian Pose <fp@igh-essen.com>
parents: 1513
diff changeset
  1630
#endif
e3b09f847512 Fixed compiler error on --disable-eoe.
Florian Pose <fp@igh-essen.com>
parents: 1513
diff changeset
  1631
1485
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1465
diff changeset
  1632
/*****************************************************************************/
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1465
diff changeset
  1633
1242
632a6b91f8e4 First version of userspace library with requesting/releasing.
Florian Pose <fp@igh-essen.com>
parents: 1223
diff changeset
  1634
/** Request the master from userspace.
632a6b91f8e4 First version of userspace library with requesting/releasing.
Florian Pose <fp@igh-essen.com>
parents: 1223
diff changeset
  1635
 */
632a6b91f8e4 First version of userspace library with requesting/releasing.
Florian Pose <fp@igh-essen.com>
parents: 1223
diff changeset
  1636
int ec_cdev_ioctl_request(
632a6b91f8e4 First version of userspace library with requesting/releasing.
Florian Pose <fp@igh-essen.com>
parents: 1223
diff changeset
  1637
        ec_master_t *master, /**< EtherCAT master. */
632a6b91f8e4 First version of userspace library with requesting/releasing.
Florian Pose <fp@igh-essen.com>
parents: 1223
diff changeset
  1638
        unsigned long arg, /**< ioctl() argument. */
632a6b91f8e4 First version of userspace library with requesting/releasing.
Florian Pose <fp@igh-essen.com>
parents: 1223
diff changeset
  1639
        ec_cdev_priv_t *priv /**< Private data structure of file handle. */
632a6b91f8e4 First version of userspace library with requesting/releasing.
Florian Pose <fp@igh-essen.com>
parents: 1223
diff changeset
  1640
        )
632a6b91f8e4 First version of userspace library with requesting/releasing.
Florian Pose <fp@igh-essen.com>
parents: 1223
diff changeset
  1641
{
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1642
    ec_master_t *m;
1242
632a6b91f8e4 First version of userspace library with requesting/releasing.
Florian Pose <fp@igh-essen.com>
parents: 1223
diff changeset
  1643
    int ret = 0;
632a6b91f8e4 First version of userspace library with requesting/releasing.
Florian Pose <fp@igh-essen.com>
parents: 1223
diff changeset
  1644
1312
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1284
diff changeset
  1645
    m = ecrt_request_master_err(master->index);
1244
0b70040d3daa No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents: 1242
diff changeset
  1646
    if (IS_ERR(m)) {
0b70040d3daa No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents: 1242
diff changeset
  1647
        ret = PTR_ERR(m);
1242
632a6b91f8e4 First version of userspace library with requesting/releasing.
Florian Pose <fp@igh-essen.com>
parents: 1223
diff changeset
  1648
    } else {
632a6b91f8e4 First version of userspace library with requesting/releasing.
Florian Pose <fp@igh-essen.com>
parents: 1223
diff changeset
  1649
        priv->requested = 1;
632a6b91f8e4 First version of userspace library with requesting/releasing.
Florian Pose <fp@igh-essen.com>
parents: 1223
diff changeset
  1650
    }
632a6b91f8e4 First version of userspace library with requesting/releasing.
Florian Pose <fp@igh-essen.com>
parents: 1223
diff changeset
  1651
632a6b91f8e4 First version of userspace library with requesting/releasing.
Florian Pose <fp@igh-essen.com>
parents: 1223
diff changeset
  1652
    return ret;
632a6b91f8e4 First version of userspace library with requesting/releasing.
Florian Pose <fp@igh-essen.com>
parents: 1223
diff changeset
  1653
}
632a6b91f8e4 First version of userspace library with requesting/releasing.
Florian Pose <fp@igh-essen.com>
parents: 1223
diff changeset
  1654
1244
0b70040d3daa No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents: 1242
diff changeset
  1655
/*****************************************************************************/
0b70040d3daa No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents: 1242
diff changeset
  1656
0b70040d3daa No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents: 1242
diff changeset
  1657
/** Create a domain.
0b70040d3daa No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents: 1242
diff changeset
  1658
 */
0b70040d3daa No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents: 1242
diff changeset
  1659
int ec_cdev_ioctl_create_domain(
0b70040d3daa No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents: 1242
diff changeset
  1660
        ec_master_t *master, /**< EtherCAT master. */
0b70040d3daa No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents: 1242
diff changeset
  1661
        unsigned long arg, /**< ioctl() argument. */
0b70040d3daa No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents: 1242
diff changeset
  1662
        ec_cdev_priv_t *priv /**< Private data structure of file handle. */
0b70040d3daa No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents: 1242
diff changeset
  1663
        )
0b70040d3daa No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents: 1242
diff changeset
  1664
{
0b70040d3daa No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents: 1242
diff changeset
  1665
    ec_domain_t *domain;
0b70040d3daa No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents: 1242
diff changeset
  1666
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1667
    if (unlikely(!priv->requested))
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1668
        return -EPERM;
1244
0b70040d3daa No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents: 1242
diff changeset
  1669
1312
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1284
diff changeset
  1670
    domain = ecrt_master_create_domain_err(master);
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1284
diff changeset
  1671
    if (IS_ERR(domain))
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1284
diff changeset
  1672
        return PTR_ERR(domain);
1244
0b70040d3daa No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents: 1242
diff changeset
  1673
0b70040d3daa No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents: 1242
diff changeset
  1674
    return domain->index;
0b70040d3daa No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents: 1242
diff changeset
  1675
}
0b70040d3daa No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents: 1242
diff changeset
  1676
1246
4042bda8c980 Creating slave configurations.
Florian Pose <fp@igh-essen.com>
parents: 1244
diff changeset
  1677
/*****************************************************************************/
4042bda8c980 Creating slave configurations.
Florian Pose <fp@igh-essen.com>
parents: 1244
diff changeset
  1678
4042bda8c980 Creating slave configurations.
Florian Pose <fp@igh-essen.com>
parents: 1244
diff changeset
  1679
/** Create a slave configuration.
4042bda8c980 Creating slave configurations.
Florian Pose <fp@igh-essen.com>
parents: 1244
diff changeset
  1680
 */
4042bda8c980 Creating slave configurations.
Florian Pose <fp@igh-essen.com>
parents: 1244
diff changeset
  1681
int ec_cdev_ioctl_create_slave_config(
4042bda8c980 Creating slave configurations.
Florian Pose <fp@igh-essen.com>
parents: 1244
diff changeset
  1682
        ec_master_t *master, /**< EtherCAT master. */
4042bda8c980 Creating slave configurations.
Florian Pose <fp@igh-essen.com>
parents: 1244
diff changeset
  1683
        unsigned long arg, /**< ioctl() argument. */
4042bda8c980 Creating slave configurations.
Florian Pose <fp@igh-essen.com>
parents: 1244
diff changeset
  1684
        ec_cdev_priv_t *priv /**< Private data structure of file handle. */
4042bda8c980 Creating slave configurations.
Florian Pose <fp@igh-essen.com>
parents: 1244
diff changeset
  1685
        )
4042bda8c980 Creating slave configurations.
Florian Pose <fp@igh-essen.com>
parents: 1244
diff changeset
  1686
{
4042bda8c980 Creating slave configurations.
Florian Pose <fp@igh-essen.com>
parents: 1244
diff changeset
  1687
    ec_ioctl_config_t data;
4042bda8c980 Creating slave configurations.
Florian Pose <fp@igh-essen.com>
parents: 1244
diff changeset
  1688
    ec_slave_config_t *sc, *entry;
4042bda8c980 Creating slave configurations.
Florian Pose <fp@igh-essen.com>
parents: 1244
diff changeset
  1689
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1690
    if (unlikely(!priv->requested))
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1691
        return -EPERM;
1246
4042bda8c980 Creating slave configurations.
Florian Pose <fp@igh-essen.com>
parents: 1244
diff changeset
  1692
4042bda8c980 Creating slave configurations.
Florian Pose <fp@igh-essen.com>
parents: 1244
diff changeset
  1693
    if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
4042bda8c980 Creating slave configurations.
Florian Pose <fp@igh-essen.com>
parents: 1244
diff changeset
  1694
        return -EFAULT;
4042bda8c980 Creating slave configurations.
Florian Pose <fp@igh-essen.com>
parents: 1244
diff changeset
  1695
    }
4042bda8c980 Creating slave configurations.
Florian Pose <fp@igh-essen.com>
parents: 1244
diff changeset
  1696
1312
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1284
diff changeset
  1697
    sc = ecrt_master_slave_config_err(master, data.alias, data.position,
1246
4042bda8c980 Creating slave configurations.
Florian Pose <fp@igh-essen.com>
parents: 1244
diff changeset
  1698
            data.vendor_id, data.product_code);
1312
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1284
diff changeset
  1699
    if (IS_ERR(sc))
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1284
diff changeset
  1700
        return PTR_ERR(sc);
1246
4042bda8c980 Creating slave configurations.
Florian Pose <fp@igh-essen.com>
parents: 1244
diff changeset
  1701
4042bda8c980 Creating slave configurations.
Florian Pose <fp@igh-essen.com>
parents: 1244
diff changeset
  1702
    data.config_index = 0;
4042bda8c980 Creating slave configurations.
Florian Pose <fp@igh-essen.com>
parents: 1244
diff changeset
  1703
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2027
diff changeset
  1704
    if (ec_mutex_lock_interruptible(&master->master_mutex))
1246
4042bda8c980 Creating slave configurations.
Florian Pose <fp@igh-essen.com>
parents: 1244
diff changeset
  1705
        return -EINTR;
4042bda8c980 Creating slave configurations.
Florian Pose <fp@igh-essen.com>
parents: 1244
diff changeset
  1706
4042bda8c980 Creating slave configurations.
Florian Pose <fp@igh-essen.com>
parents: 1244
diff changeset
  1707
    list_for_each_entry(entry, &master->configs, list) {
4042bda8c980 Creating slave configurations.
Florian Pose <fp@igh-essen.com>
parents: 1244
diff changeset
  1708
        if (entry == sc)
4042bda8c980 Creating slave configurations.
Florian Pose <fp@igh-essen.com>
parents: 1244
diff changeset
  1709
            break;
4042bda8c980 Creating slave configurations.
Florian Pose <fp@igh-essen.com>
parents: 1244
diff changeset
  1710
        data.config_index++;
4042bda8c980 Creating slave configurations.
Florian Pose <fp@igh-essen.com>
parents: 1244
diff changeset
  1711
    }
4042bda8c980 Creating slave configurations.
Florian Pose <fp@igh-essen.com>
parents: 1244
diff changeset
  1712
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2027
diff changeset
  1713
    ec_mutex_unlock(&master->master_mutex);
1246
4042bda8c980 Creating slave configurations.
Florian Pose <fp@igh-essen.com>
parents: 1244
diff changeset
  1714
4042bda8c980 Creating slave configurations.
Florian Pose <fp@igh-essen.com>
parents: 1244
diff changeset
  1715
    if (copy_to_user((void __user *) arg, &data, sizeof(data)))
4042bda8c980 Creating slave configurations.
Florian Pose <fp@igh-essen.com>
parents: 1244
diff changeset
  1716
        return -EFAULT;
4042bda8c980 Creating slave configurations.
Florian Pose <fp@igh-essen.com>
parents: 1244
diff changeset
  1717
4042bda8c980 Creating slave configurations.
Florian Pose <fp@igh-essen.com>
parents: 1244
diff changeset
  1718
    return 0;
4042bda8c980 Creating slave configurations.
Florian Pose <fp@igh-essen.com>
parents: 1244
diff changeset
  1719
}
4042bda8c980 Creating slave configurations.
Florian Pose <fp@igh-essen.com>
parents: 1244
diff changeset
  1720
1247
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  1721
/*****************************************************************************/
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  1722
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  1723
/** Activates the master.
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  1724
 */
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  1725
int ec_cdev_ioctl_activate(
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  1726
        ec_master_t *master, /**< EtherCAT master. */
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  1727
        unsigned long arg, /**< ioctl() argument. */
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  1728
        ec_cdev_priv_t *priv /**< Private data structure of file handle. */
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  1729
        )
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  1730
{
1258
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  1731
    ec_domain_t *domain;
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  1732
    off_t offset;
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
  1733
    int ret;
1258
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  1734
    
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1735
    if (unlikely(!priv->requested))
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1736
        return -EPERM;
1247
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  1737
1258
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  1738
    /* Get the sum of the domains' process data sizes. */
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  1739
    
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  1740
    priv->process_data_size = 0;
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  1741
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2027
diff changeset
  1742
    if (ec_mutex_lock_interruptible(&master->master_mutex))
1258
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  1743
        return -EINTR;
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  1744
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  1745
    list_for_each_entry(domain, &master->domains, list) {
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  1746
        priv->process_data_size += ecrt_domain_size(domain);
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  1747
    }
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  1748
    
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2027
diff changeset
  1749
    ec_mutex_unlock(&master->master_mutex);
1258
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  1750
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  1751
    if (priv->process_data_size) {
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  1752
        priv->process_data = vmalloc(priv->process_data_size);
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  1753
        if (!priv->process_data) {
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  1754
            priv->process_data_size = 0;
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  1755
            return -ENOMEM;
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  1756
        }
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  1757
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  1758
        /* Set the memory as external process data memory for the domains. */
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  1759
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  1760
        offset = 0;
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  1761
        list_for_each_entry(domain, &master->domains, list) {
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  1762
            ecrt_domain_external_memory(domain, priv->process_data + offset);
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  1763
            offset += ecrt_domain_size(domain);
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  1764
        }
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  1765
    }
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  1766
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
  1767
    ret = ecrt_master_activate(master);
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
  1768
    if (ret < 0)
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
  1769
        return ret;
1247
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  1770
1258
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  1771
    if (copy_to_user((void __user *) arg,
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  1772
                &priv->process_data_size, sizeof(size_t)))
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  1773
        return -EFAULT;
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  1774
1247
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  1775
    return 0;
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  1776
}
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  1777
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  1778
/*****************************************************************************/
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  1779
1531
6c5478400e28 Implemented ecrt_master_deactivate() in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
  1780
/** Deactivates the master.
6c5478400e28 Implemented ecrt_master_deactivate() in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
  1781
 */
6c5478400e28 Implemented ecrt_master_deactivate() in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
  1782
int ec_cdev_ioctl_deactivate(
6c5478400e28 Implemented ecrt_master_deactivate() in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
  1783
        ec_master_t *master, /**< EtherCAT master. */
6c5478400e28 Implemented ecrt_master_deactivate() in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
  1784
        unsigned long arg, /**< ioctl() argument. */
6c5478400e28 Implemented ecrt_master_deactivate() in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
  1785
        ec_cdev_priv_t *priv /**< Private data structure of file handle. */
6c5478400e28 Implemented ecrt_master_deactivate() in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
  1786
        )
6c5478400e28 Implemented ecrt_master_deactivate() in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
  1787
{
6c5478400e28 Implemented ecrt_master_deactivate() in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
  1788
    if (unlikely(!priv->requested))
6c5478400e28 Implemented ecrt_master_deactivate() in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
  1789
        return -EPERM;
6c5478400e28 Implemented ecrt_master_deactivate() in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
  1790
6c5478400e28 Implemented ecrt_master_deactivate() in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
  1791
    ecrt_master_deactivate(master);
6c5478400e28 Implemented ecrt_master_deactivate() in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
  1792
    return 0;
6c5478400e28 Implemented ecrt_master_deactivate() in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
  1793
}
6c5478400e28 Implemented ecrt_master_deactivate() in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
  1794
1585
1f640e321ee4 ecrt_master_set_max_cycle_size: limit SDO traffic
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1583
diff changeset
  1795
/*****************************************************************************/
1f640e321ee4 ecrt_master_set_max_cycle_size: limit SDO traffic
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1583
diff changeset
  1796
1f640e321ee4 ecrt_master_set_max_cycle_size: limit SDO traffic
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1583
diff changeset
  1797
/** Set max. number of databytes in a cycle
1f640e321ee4 ecrt_master_set_max_cycle_size: limit SDO traffic
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1583
diff changeset
  1798
 */
1600
e36c92cf58a9 use given send interval to limit SDO/FOE traffic
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1597
diff changeset
  1799
int ec_cdev_ioctl_set_send_interval(
e36c92cf58a9 use given send interval to limit SDO/FOE traffic
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1597
diff changeset
  1800
        ec_master_t *master, /**< EtherCAT master. */
e36c92cf58a9 use given send interval to limit SDO/FOE traffic
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1597
diff changeset
  1801
        unsigned long arg, /**< ioctl() argument. */
e36c92cf58a9 use given send interval to limit SDO/FOE traffic
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1597
diff changeset
  1802
        ec_cdev_priv_t *priv /**< Private data structure of file handle. */
e36c92cf58a9 use given send interval to limit SDO/FOE traffic
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1597
diff changeset
  1803
        )
e36c92cf58a9 use given send interval to limit SDO/FOE traffic
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1597
diff changeset
  1804
{
1804
742607c464c4 Removed tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1606
diff changeset
  1805
    size_t send_interval;
742607c464c4 Removed tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1606
diff changeset
  1806
742607c464c4 Removed tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1606
diff changeset
  1807
    if (copy_from_user(&send_interval, (void __user *) arg,
742607c464c4 Removed tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1606
diff changeset
  1808
                sizeof(send_interval))) {
742607c464c4 Removed tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1606
diff changeset
  1809
        return -EFAULT;
742607c464c4 Removed tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1606
diff changeset
  1810
    }
742607c464c4 Removed tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1606
diff changeset
  1811
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2027
diff changeset
  1812
    if (ec_mutex_lock_interruptible(&master->master_mutex))
1804
742607c464c4 Removed tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1606
diff changeset
  1813
        return -EINTR;
742607c464c4 Removed tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1606
diff changeset
  1814
    ec_master_set_send_interval(master,send_interval);
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2027
diff changeset
  1815
    ec_mutex_unlock(&master->master_mutex);
1585
1f640e321ee4 ecrt_master_set_max_cycle_size: limit SDO traffic
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1583
diff changeset
  1816
1f640e321ee4 ecrt_master_set_max_cycle_size: limit SDO traffic
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1583
diff changeset
  1817
    return 0;
1f640e321ee4 ecrt_master_set_max_cycle_size: limit SDO traffic
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1583
diff changeset
  1818
}
1f640e321ee4 ecrt_master_set_max_cycle_size: limit SDO traffic
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1583
diff changeset
  1819
1f640e321ee4 ecrt_master_set_max_cycle_size: limit SDO traffic
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1583
diff changeset
  1820
1531
6c5478400e28 Implemented ecrt_master_deactivate() in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
  1821
/*****************************************************************************/
6c5478400e28 Implemented ecrt_master_deactivate() in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
  1822
1247
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  1823
/** Send frames.
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  1824
 */
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  1825
int ec_cdev_ioctl_send(
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  1826
        ec_master_t *master, /**< EtherCAT master. */
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  1827
        unsigned long arg, /**< ioctl() argument. */
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  1828
        ec_cdev_priv_t *priv /**< Private data structure of file handle. */
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  1829
        )
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  1830
{
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1831
    if (unlikely(!priv->requested))
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1832
        return -EPERM;
1247
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  1833
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2027
diff changeset
  1834
    ec_mutex_lock(&master->io_mutex);
1247
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  1835
    ecrt_master_send(master);
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2027
diff changeset
  1836
    ec_mutex_unlock(&master->io_mutex);
1247
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  1837
    return 0;
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  1838
}
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  1839
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  1840
/*****************************************************************************/
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  1841
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  1842
/** Receive frames.
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  1843
 */
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  1844
int ec_cdev_ioctl_receive(
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  1845
        ec_master_t *master, /**< EtherCAT master. */
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  1846
        unsigned long arg, /**< ioctl() argument. */
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  1847
        ec_cdev_priv_t *priv /**< Private data structure of file handle. */
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  1848
        )
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  1849
{
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1850
    if (unlikely(!priv->requested))
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1851
        return -EPERM;
1247
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  1852
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2027
diff changeset
  1853
    ec_mutex_lock(&master->io_mutex);
1247
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  1854
    ecrt_master_receive(master);
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2027
diff changeset
  1855
    ec_mutex_unlock(&master->io_mutex);
1247
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  1856
    return 0;
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  1857
}
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  1858
1255
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1859
/*****************************************************************************/
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  1860
1259
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  1861
/** Get the master state.
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  1862
 */
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  1863
int ec_cdev_ioctl_master_state(
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  1864
        ec_master_t *master, /**< EtherCAT master. */
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  1865
        unsigned long arg, /**< ioctl() argument. */
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  1866
        ec_cdev_priv_t *priv /**< Private data structure of file handle. */
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  1867
        )
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  1868
{
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  1869
    ec_master_state_t data;
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  1870
    
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1871
    if (unlikely(!priv->requested))
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1872
        return -EPERM;
1259
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  1873
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  1874
    ecrt_master_state(master, &data);
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  1875
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  1876
    if (copy_to_user((void __user *) arg, &data, sizeof(data)))
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  1877
        return -EFAULT;
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  1878
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  1879
    return 0;
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  1880
}
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  1881
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  1882
/*****************************************************************************/
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  1883
1978
d9b6e641eaeb added API ecrt_master_configured_slaves_state
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1862
diff changeset
  1884
/** Get the master state of all configured slaves.
d9b6e641eaeb added API ecrt_master_configured_slaves_state
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1862
diff changeset
  1885
 */
d9b6e641eaeb added API ecrt_master_configured_slaves_state
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1862
diff changeset
  1886
int ec_cdev_ioctl_master_sc_state(
d9b6e641eaeb added API ecrt_master_configured_slaves_state
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1862
diff changeset
  1887
        ec_master_t *master, /**< EtherCAT master. */
d9b6e641eaeb added API ecrt_master_configured_slaves_state
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1862
diff changeset
  1888
        unsigned long arg, /**< ioctl() argument. */
d9b6e641eaeb added API ecrt_master_configured_slaves_state
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1862
diff changeset
  1889
        ec_cdev_priv_t *priv /**< Private data structure of file handle. */
d9b6e641eaeb added API ecrt_master_configured_slaves_state
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1862
diff changeset
  1890
        )
d9b6e641eaeb added API ecrt_master_configured_slaves_state
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1862
diff changeset
  1891
{
d9b6e641eaeb added API ecrt_master_configured_slaves_state
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1862
diff changeset
  1892
    ec_master_state_t data;
d9b6e641eaeb added API ecrt_master_configured_slaves_state
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1862
diff changeset
  1893
d9b6e641eaeb added API ecrt_master_configured_slaves_state
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1862
diff changeset
  1894
    if (unlikely(!priv->requested))
d9b6e641eaeb added API ecrt_master_configured_slaves_state
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1862
diff changeset
  1895
        return -EPERM;
d9b6e641eaeb added API ecrt_master_configured_slaves_state
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1862
diff changeset
  1896
d9b6e641eaeb added API ecrt_master_configured_slaves_state
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1862
diff changeset
  1897
    ecrt_master_configured_slaves_state(master, &data);
d9b6e641eaeb added API ecrt_master_configured_slaves_state
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1862
diff changeset
  1898
d9b6e641eaeb added API ecrt_master_configured_slaves_state
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1862
diff changeset
  1899
    if (copy_to_user((void __user *) arg, &data, sizeof(data)))
d9b6e641eaeb added API ecrt_master_configured_slaves_state
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1862
diff changeset
  1900
        return -EFAULT;
d9b6e641eaeb added API ecrt_master_configured_slaves_state
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1862
diff changeset
  1901
d9b6e641eaeb added API ecrt_master_configured_slaves_state
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1862
diff changeset
  1902
    return 0;
d9b6e641eaeb added API ecrt_master_configured_slaves_state
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1862
diff changeset
  1903
}
d9b6e641eaeb added API ecrt_master_configured_slaves_state
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1862
diff changeset
  1904
d9b6e641eaeb added API ecrt_master_configured_slaves_state
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1862
diff changeset
  1905
/*****************************************************************************/
d9b6e641eaeb added API ecrt_master_configured_slaves_state
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1862
diff changeset
  1906
1454
b9986feec1a5 Added EC_IOCTL_APP_TIME.
Florian Pose <fp@igh-essen.com>
parents: 1448
diff changeset
  1907
/** Get the master state.
b9986feec1a5 Added EC_IOCTL_APP_TIME.
Florian Pose <fp@igh-essen.com>
parents: 1448
diff changeset
  1908
 */
b9986feec1a5 Added EC_IOCTL_APP_TIME.
Florian Pose <fp@igh-essen.com>
parents: 1448
diff changeset
  1909
int ec_cdev_ioctl_app_time(
b9986feec1a5 Added EC_IOCTL_APP_TIME.
Florian Pose <fp@igh-essen.com>
parents: 1448
diff changeset
  1910
        ec_master_t *master, /**< EtherCAT master. */
b9986feec1a5 Added EC_IOCTL_APP_TIME.
Florian Pose <fp@igh-essen.com>
parents: 1448
diff changeset
  1911
        unsigned long arg, /**< ioctl() argument. */
b9986feec1a5 Added EC_IOCTL_APP_TIME.
Florian Pose <fp@igh-essen.com>
parents: 1448
diff changeset
  1912
        ec_cdev_priv_t *priv /**< Private data structure of file handle. */
b9986feec1a5 Added EC_IOCTL_APP_TIME.
Florian Pose <fp@igh-essen.com>
parents: 1448
diff changeset
  1913
        )
b9986feec1a5 Added EC_IOCTL_APP_TIME.
Florian Pose <fp@igh-essen.com>
parents: 1448
diff changeset
  1914
{
b9986feec1a5 Added EC_IOCTL_APP_TIME.
Florian Pose <fp@igh-essen.com>
parents: 1448
diff changeset
  1915
    ec_ioctl_app_time_t data;
b9986feec1a5 Added EC_IOCTL_APP_TIME.
Florian Pose <fp@igh-essen.com>
parents: 1448
diff changeset
  1916
    
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1917
    if (unlikely(!priv->requested))
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1918
        return -EPERM;
1454
b9986feec1a5 Added EC_IOCTL_APP_TIME.
Florian Pose <fp@igh-essen.com>
parents: 1448
diff changeset
  1919
b9986feec1a5 Added EC_IOCTL_APP_TIME.
Florian Pose <fp@igh-essen.com>
parents: 1448
diff changeset
  1920
    if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
b9986feec1a5 Added EC_IOCTL_APP_TIME.
Florian Pose <fp@igh-essen.com>
parents: 1448
diff changeset
  1921
        return -EFAULT;
b9986feec1a5 Added EC_IOCTL_APP_TIME.
Florian Pose <fp@igh-essen.com>
parents: 1448
diff changeset
  1922
    }
b9986feec1a5 Added EC_IOCTL_APP_TIME.
Florian Pose <fp@igh-essen.com>
parents: 1448
diff changeset
  1923
b9986feec1a5 Added EC_IOCTL_APP_TIME.
Florian Pose <fp@igh-essen.com>
parents: 1448
diff changeset
  1924
    ecrt_master_application_time(master, data.app_time);
b9986feec1a5 Added EC_IOCTL_APP_TIME.
Florian Pose <fp@igh-essen.com>
parents: 1448
diff changeset
  1925
    return 0;
b9986feec1a5 Added EC_IOCTL_APP_TIME.
Florian Pose <fp@igh-essen.com>
parents: 1448
diff changeset
  1926
}
b9986feec1a5 Added EC_IOCTL_APP_TIME.
Florian Pose <fp@igh-essen.com>
parents: 1448
diff changeset
  1927
b9986feec1a5 Added EC_IOCTL_APP_TIME.
Florian Pose <fp@igh-essen.com>
parents: 1448
diff changeset
  1928
/*****************************************************************************/
b9986feec1a5 Added EC_IOCTL_APP_TIME.
Florian Pose <fp@igh-essen.com>
parents: 1448
diff changeset
  1929
1413
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1401
diff changeset
  1930
/** Sync the reference clock.
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1401
diff changeset
  1931
 */
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1401
diff changeset
  1932
int ec_cdev_ioctl_sync_ref(
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1401
diff changeset
  1933
        ec_master_t *master, /**< EtherCAT master. */
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1401
diff changeset
  1934
        unsigned long arg, /**< ioctl() argument. */
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1401
diff changeset
  1935
        ec_cdev_priv_t *priv /**< Private data structure of file handle. */
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1401
diff changeset
  1936
        )
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1401
diff changeset
  1937
{
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1938
    if (unlikely(!priv->requested))
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1939
        return -EPERM;
1413
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1401
diff changeset
  1940
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2027
diff changeset
  1941
    ec_mutex_lock(&master->io_mutex);
1434
4c6fe0ae37f1 Separated application time from synchronizing reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1426
diff changeset
  1942
    ecrt_master_sync_reference_clock(master);
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2027
diff changeset
  1943
    ec_mutex_unlock(&master->io_mutex);
1413
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1401
diff changeset
  1944
    return 0;
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1401
diff changeset
  1945
}
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1401
diff changeset
  1946
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1401
diff changeset
  1947
/*****************************************************************************/
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1401
diff changeset
  1948
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1401
diff changeset
  1949
/** Sync the slave clocks.
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1401
diff changeset
  1950
 */
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1401
diff changeset
  1951
int ec_cdev_ioctl_sync_slaves(
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1401
diff changeset
  1952
        ec_master_t *master, /**< EtherCAT master. */
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1401
diff changeset
  1953
        unsigned long arg, /**< ioctl() argument. */
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1401
diff changeset
  1954
        ec_cdev_priv_t *priv /**< Private data structure of file handle. */
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1401
diff changeset
  1955
        )
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1401
diff changeset
  1956
{
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1957
    if (unlikely(!priv->requested))
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1958
        return -EPERM;
1413
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1401
diff changeset
  1959
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2027
diff changeset
  1960
    ec_mutex_lock(&master->io_mutex);
1413
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1401
diff changeset
  1961
    ecrt_master_sync_slave_clocks(master);
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2027
diff changeset
  1962
    ec_mutex_unlock(&master->io_mutex);
1413
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1401
diff changeset
  1963
    return 0;
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1401
diff changeset
  1964
}
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1401
diff changeset
  1965
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1401
diff changeset
  1966
/*****************************************************************************/
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1401
diff changeset
  1967
1535
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1531
diff changeset
  1968
/** Queue the sync monitoring datagram.
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1531
diff changeset
  1969
 */
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1531
diff changeset
  1970
int ec_cdev_ioctl_sync_mon_queue(
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1531
diff changeset
  1971
        ec_master_t *master, /**< EtherCAT master. */
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1531
diff changeset
  1972
        unsigned long arg, /**< ioctl() argument. */
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1531
diff changeset
  1973
        ec_cdev_priv_t *priv /**< Private data structure of file handle. */
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1531
diff changeset
  1974
        )
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1531
diff changeset
  1975
{
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1531
diff changeset
  1976
    if (unlikely(!priv->requested))
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1531
diff changeset
  1977
        return -EPERM;
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1531
diff changeset
  1978
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2027
diff changeset
  1979
    ec_mutex_lock(&master->io_mutex);
1535
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1531
diff changeset
  1980
    ecrt_master_sync_monitor_queue(master);
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2027
diff changeset
  1981
    ec_mutex_unlock(&master->io_mutex);
1535
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1531
diff changeset
  1982
    return 0;
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1531
diff changeset
  1983
}
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1531
diff changeset
  1984
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1531
diff changeset
  1985
/*****************************************************************************/
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1531
diff changeset
  1986
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1531
diff changeset
  1987
/** Processes the sync monitoring datagram.
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1531
diff changeset
  1988
 */
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1531
diff changeset
  1989
int ec_cdev_ioctl_sync_mon_process(
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1531
diff changeset
  1990
        ec_master_t *master, /**< EtherCAT master. */
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1531
diff changeset
  1991
        unsigned long arg, /**< ioctl() argument. */
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1531
diff changeset
  1992
        ec_cdev_priv_t *priv /**< Private data structure of file handle. */
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1531
diff changeset
  1993
        )
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1531
diff changeset
  1994
{
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1531
diff changeset
  1995
    uint32_t time_diff;
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1531
diff changeset
  1996
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1531
diff changeset
  1997
    if (unlikely(!priv->requested))
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1531
diff changeset
  1998
        return -EPERM;
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1531
diff changeset
  1999
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2027
diff changeset
  2000
    ec_mutex_lock(&master->io_mutex);
1535
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1531
diff changeset
  2001
    time_diff = ecrt_master_sync_monitor_process(master);
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2027
diff changeset
  2002
    ec_mutex_unlock(&master->io_mutex);
1535
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1531
diff changeset
  2003
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1531
diff changeset
  2004
    if (copy_to_user((void __user *) arg, &time_diff, sizeof(time_diff)))
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1531
diff changeset
  2005
        return -EFAULT;
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1531
diff changeset
  2006
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1531
diff changeset
  2007
    return 0;
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1531
diff changeset
  2008
}
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1531
diff changeset
  2009
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1531
diff changeset
  2010
/*****************************************************************************/
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1531
diff changeset
  2011
2009
b5391b329b5d Added ecrt_master_reset() method.
Florian Pose <fp@igh-essen.com>
parents: 1972
diff changeset
  2012
/** Reset configuration.
b5391b329b5d Added ecrt_master_reset() method.
Florian Pose <fp@igh-essen.com>
parents: 1972
diff changeset
  2013
 */
b5391b329b5d Added ecrt_master_reset() method.
Florian Pose <fp@igh-essen.com>
parents: 1972
diff changeset
  2014
int ec_cdev_ioctl_reset(
b5391b329b5d Added ecrt_master_reset() method.
Florian Pose <fp@igh-essen.com>
parents: 1972
diff changeset
  2015
        ec_master_t *master, /**< EtherCAT master. */
b5391b329b5d Added ecrt_master_reset() method.
Florian Pose <fp@igh-essen.com>
parents: 1972
diff changeset
  2016
        unsigned long arg, /**< ioctl() argument. */
b5391b329b5d Added ecrt_master_reset() method.
Florian Pose <fp@igh-essen.com>
parents: 1972
diff changeset
  2017
        ec_cdev_priv_t *priv /**< Private data structure of file handle. */
b5391b329b5d Added ecrt_master_reset() method.
Florian Pose <fp@igh-essen.com>
parents: 1972
diff changeset
  2018
        )
b5391b329b5d Added ecrt_master_reset() method.
Florian Pose <fp@igh-essen.com>
parents: 1972
diff changeset
  2019
{
b5391b329b5d Added ecrt_master_reset() method.
Florian Pose <fp@igh-essen.com>
parents: 1972
diff changeset
  2020
    if (unlikely(!priv->requested))
b5391b329b5d Added ecrt_master_reset() method.
Florian Pose <fp@igh-essen.com>
parents: 1972
diff changeset
  2021
        return -EPERM;
b5391b329b5d Added ecrt_master_reset() method.
Florian Pose <fp@igh-essen.com>
parents: 1972
diff changeset
  2022
2042
Martin Troxler <ch1010277@ch10lt194>
parents: 2034 2009
diff changeset
  2023
    ec_mutex_lock(&master->master_mutex);
2009
b5391b329b5d Added ecrt_master_reset() method.
Florian Pose <fp@igh-essen.com>
parents: 1972
diff changeset
  2024
    ecrt_master_reset(master);
2042
Martin Troxler <ch1010277@ch10lt194>
parents: 2034 2009
diff changeset
  2025
    ec_mutex_unlock(&master->master_mutex);
2009
b5391b329b5d Added ecrt_master_reset() method.
Florian Pose <fp@igh-essen.com>
parents: 1972
diff changeset
  2026
    return 0;
b5391b329b5d Added ecrt_master_reset() method.
Florian Pose <fp@igh-essen.com>
parents: 1972
diff changeset
  2027
}
b5391b329b5d Added ecrt_master_reset() method.
Florian Pose <fp@igh-essen.com>
parents: 1972
diff changeset
  2028
b5391b329b5d Added ecrt_master_reset() method.
Florian Pose <fp@igh-essen.com>
parents: 1972
diff changeset
  2029
/*****************************************************************************/
b5391b329b5d Added ecrt_master_reset() method.
Florian Pose <fp@igh-essen.com>
parents: 1972
diff changeset
  2030
1509
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  2031
/** Configure a sync manager.
1255
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2032
 */
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2033
int ec_cdev_ioctl_sc_sync(
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2034
        ec_master_t *master, /**< EtherCAT master. */
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2035
        unsigned long arg, /**< ioctl() argument. */
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2036
        ec_cdev_priv_t *priv /**< Private data structure of file handle. */
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2037
        )
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2038
{
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2039
    ec_ioctl_config_t data;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2040
    ec_slave_config_t *sc;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2041
    unsigned int i;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2042
    int ret = 0;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2043
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  2044
    if (unlikely(!priv->requested)) {
1255
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2045
        ret = -EPERM;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2046
        goto out_return;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2047
    }
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2048
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2049
    if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2050
        ret = -EFAULT;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2051
        goto out_return;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2052
    }
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2053
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2027
diff changeset
  2054
    if (ec_mutex_lock_interruptible(&master->master_mutex)) {
1255
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2055
        ret = -EINTR;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2056
        goto out_return;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2057
    }
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2058
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2059
    if (!(sc = ec_master_get_config(master, data.config_index))) {
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
  2060
        ret = -ENOENT;
1255
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2061
        goto out_up;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2062
    }
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2063
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2064
    for (i = 0; i < EC_MAX_SYNC_MANAGERS; i++) {
1509
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  2065
        if (data.syncs[i].config_this) {
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  2066
            if (ecrt_slave_config_sync_manager(sc, i, data.syncs[i].dir,
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  2067
                        data.syncs[i].watchdog_mode)) {
1255
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2068
                ret = -EINVAL;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2069
                goto out_up;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2070
            }
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2071
        }
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2072
    }
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2073
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2074
out_up:
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2027
diff changeset
  2075
    ec_mutex_unlock(&master->master_mutex);
1255
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2076
out_return:
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2077
    return ret;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2078
}
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2079
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2080
/*****************************************************************************/
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2081
1509
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  2082
/** Configure a slave's watchdogs.
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  2083
 */
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  2084
int ec_cdev_ioctl_sc_watchdog(
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  2085
        ec_master_t *master, /**< EtherCAT master. */
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  2086
        unsigned long arg, /**< ioctl() argument. */
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  2087
        ec_cdev_priv_t *priv /**< Private data structure of file handle. */
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  2088
        )
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  2089
{
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  2090
    ec_ioctl_config_t data;
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  2091
    ec_slave_config_t *sc;
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  2092
    int ret = 0;
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  2093
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  2094
    if (unlikely(!priv->requested)) {
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  2095
        ret = -EPERM;
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  2096
        goto out_return;
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  2097
    }
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  2098
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  2099
    if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  2100
        ret = -EFAULT;
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  2101
        goto out_return;
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  2102
    }
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  2103
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2027
diff changeset
  2104
    if (ec_mutex_lock_interruptible(&master->master_mutex)) {
1509
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  2105
        ret = -EINTR;
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  2106
        goto out_return;
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  2107
    }
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  2108
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  2109
    if (!(sc = ec_master_get_config(master, data.config_index))) {
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  2110
        ret = -ENOENT;
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  2111
        goto out_up;
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  2112
    }
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  2113
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  2114
    ecrt_slave_config_watchdog(sc,
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  2115
            data.watchdog_divider, data.watchdog_intervals);
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  2116
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  2117
out_up:
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2027
diff changeset
  2118
    ec_mutex_unlock(&master->master_mutex);
1509
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  2119
out_return:
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  2120
    return ret;
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  2121
}
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  2122
1981
c14b6bb14fdf Inplace I/O: let input Pdos use the same bus space as Output Pdos
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1980
diff changeset
  2123
c14b6bb14fdf Inplace I/O: let input Pdos use the same bus space as Output Pdos
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1980
diff changeset
  2124
/*****************************************************************************/
c14b6bb14fdf Inplace I/O: let input Pdos use the same bus space as Output Pdos
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1980
diff changeset
  2125
c14b6bb14fdf Inplace I/O: let input Pdos use the same bus space as Output Pdos
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1980
diff changeset
  2126
/** Configure wether a slave allows overlapping PDOs.
c14b6bb14fdf Inplace I/O: let input Pdos use the same bus space as Output Pdos
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1980
diff changeset
  2127
 */
c14b6bb14fdf Inplace I/O: let input Pdos use the same bus space as Output Pdos
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1980
diff changeset
  2128
int ec_cdev_ioctl_sc_allow_overlapping_pdos(
c14b6bb14fdf Inplace I/O: let input Pdos use the same bus space as Output Pdos
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1980
diff changeset
  2129
        ec_master_t *master, /**< EtherCAT master. */
c14b6bb14fdf Inplace I/O: let input Pdos use the same bus space as Output Pdos
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1980
diff changeset
  2130
        unsigned long arg, /**< ioctl() argument. */
c14b6bb14fdf Inplace I/O: let input Pdos use the same bus space as Output Pdos
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1980
diff changeset
  2131
        ec_cdev_priv_t *priv /**< Private data structure of file handle. */
c14b6bb14fdf Inplace I/O: let input Pdos use the same bus space as Output Pdos
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1980
diff changeset
  2132
        )
c14b6bb14fdf Inplace I/O: let input Pdos use the same bus space as Output Pdos
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1980
diff changeset
  2133
{
c14b6bb14fdf Inplace I/O: let input Pdos use the same bus space as Output Pdos
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1980
diff changeset
  2134
    ec_ioctl_config_t data;
c14b6bb14fdf Inplace I/O: let input Pdos use the same bus space as Output Pdos
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1980
diff changeset
  2135
    ec_slave_config_t *sc;
c14b6bb14fdf Inplace I/O: let input Pdos use the same bus space as Output Pdos
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1980
diff changeset
  2136
    int ret = 0;
c14b6bb14fdf Inplace I/O: let input Pdos use the same bus space as Output Pdos
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1980
diff changeset
  2137
c14b6bb14fdf Inplace I/O: let input Pdos use the same bus space as Output Pdos
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1980
diff changeset
  2138
    if (unlikely(!priv->requested)) {
c14b6bb14fdf Inplace I/O: let input Pdos use the same bus space as Output Pdos
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1980
diff changeset
  2139
        ret = -EPERM;
c14b6bb14fdf Inplace I/O: let input Pdos use the same bus space as Output Pdos
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1980
diff changeset
  2140
        goto out_return;
c14b6bb14fdf Inplace I/O: let input Pdos use the same bus space as Output Pdos
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1980
diff changeset
  2141
    }
c14b6bb14fdf Inplace I/O: let input Pdos use the same bus space as Output Pdos
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1980
diff changeset
  2142
c14b6bb14fdf Inplace I/O: let input Pdos use the same bus space as Output Pdos
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1980
diff changeset
  2143
    if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
c14b6bb14fdf Inplace I/O: let input Pdos use the same bus space as Output Pdos
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1980
diff changeset
  2144
        ret = -EFAULT;
c14b6bb14fdf Inplace I/O: let input Pdos use the same bus space as Output Pdos
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1980
diff changeset
  2145
        goto out_return;
c14b6bb14fdf Inplace I/O: let input Pdos use the same bus space as Output Pdos
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1980
diff changeset
  2146
    }
c14b6bb14fdf Inplace I/O: let input Pdos use the same bus space as Output Pdos
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1980
diff changeset
  2147
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2027
diff changeset
  2148
    if (ec_mutex_lock_interruptible(&master->master_mutex)) {
1981
c14b6bb14fdf Inplace I/O: let input Pdos use the same bus space as Output Pdos
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1980
diff changeset
  2149
        ret = -EINTR;
c14b6bb14fdf Inplace I/O: let input Pdos use the same bus space as Output Pdos
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1980
diff changeset
  2150
        goto out_return;
c14b6bb14fdf Inplace I/O: let input Pdos use the same bus space as Output Pdos
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1980
diff changeset
  2151
    }
c14b6bb14fdf Inplace I/O: let input Pdos use the same bus space as Output Pdos
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1980
diff changeset
  2152
c14b6bb14fdf Inplace I/O: let input Pdos use the same bus space as Output Pdos
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1980
diff changeset
  2153
    if (!(sc = ec_master_get_config(master, data.config_index))) {
c14b6bb14fdf Inplace I/O: let input Pdos use the same bus space as Output Pdos
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1980
diff changeset
  2154
        ret = -ENOENT;
c14b6bb14fdf Inplace I/O: let input Pdos use the same bus space as Output Pdos
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1980
diff changeset
  2155
        goto out_up;
c14b6bb14fdf Inplace I/O: let input Pdos use the same bus space as Output Pdos
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1980
diff changeset
  2156
    }
c14b6bb14fdf Inplace I/O: let input Pdos use the same bus space as Output Pdos
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1980
diff changeset
  2157
c14b6bb14fdf Inplace I/O: let input Pdos use the same bus space as Output Pdos
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1980
diff changeset
  2158
    ecrt_slave_config_overlapping_pdos(sc,
c14b6bb14fdf Inplace I/O: let input Pdos use the same bus space as Output Pdos
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1980
diff changeset
  2159
            data.allow_overlapping_pdos);
c14b6bb14fdf Inplace I/O: let input Pdos use the same bus space as Output Pdos
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1980
diff changeset
  2160
c14b6bb14fdf Inplace I/O: let input Pdos use the same bus space as Output Pdos
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1980
diff changeset
  2161
out_up:
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2027
diff changeset
  2162
    ec_mutex_unlock(&master->master_mutex);
1981
c14b6bb14fdf Inplace I/O: let input Pdos use the same bus space as Output Pdos
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1980
diff changeset
  2163
out_return:
c14b6bb14fdf Inplace I/O: let input Pdos use the same bus space as Output Pdos
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1980
diff changeset
  2164
    return ret;
c14b6bb14fdf Inplace I/O: let input Pdos use the same bus space as Output Pdos
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1980
diff changeset
  2165
}
c14b6bb14fdf Inplace I/O: let input Pdos use the same bus space as Output Pdos
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1980
diff changeset
  2166
1509
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  2167
/*****************************************************************************/
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  2168
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  2169
/** Add a PDO to the assignment.
1255
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2170
 */
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2171
int ec_cdev_ioctl_sc_add_pdo(
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2172
        ec_master_t *master, /**< EtherCAT master. */
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2173
        unsigned long arg, /**< ioctl() argument. */
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2174
        ec_cdev_priv_t *priv /**< Private data structure of file handle. */
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2175
        )
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2176
{
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2177
    ec_ioctl_config_pdo_t data;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2178
    ec_slave_config_t *sc;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2179
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  2180
    if (unlikely(!priv->requested))
1255
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2181
        return -EPERM;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2182
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2183
    if (copy_from_user(&data, (void __user *) arg, sizeof(data)))
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2184
        return -EFAULT;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2185
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2027
diff changeset
  2186
    if (ec_mutex_lock_interruptible(&master->master_mutex))
1255
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2187
        return -EINTR;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2188
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2189
    if (!(sc = ec_master_get_config(master, data.config_index))) {
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2027
diff changeset
  2190
        ec_mutex_unlock(&master->master_mutex);
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
  2191
        return -ENOENT;
1255
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2192
    }
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2193
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2027
diff changeset
  2194
    ec_mutex_unlock(&master->master_mutex); // FIXME
1255
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2195
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2196
    return ecrt_slave_config_pdo_assign_add(sc, data.sync_index, data.index);
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2197
}
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2198
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2199
/*****************************************************************************/
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2200
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  2201
/** Clears the PDO assignment.
1255
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2202
 */
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2203
int ec_cdev_ioctl_sc_clear_pdos(
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2204
        ec_master_t *master, /**< EtherCAT master. */
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2205
        unsigned long arg, /**< ioctl() argument. */
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2206
        ec_cdev_priv_t *priv /**< Private data structure of file handle. */
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2207
        )
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2208
{
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2209
    ec_ioctl_config_pdo_t data;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2210
    ec_slave_config_t *sc;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2211
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  2212
    if (unlikely(!priv->requested))
1255
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2213
        return -EPERM;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2214
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2215
    if (copy_from_user(&data, (void __user *) arg, sizeof(data)))
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2216
        return -EFAULT;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2217
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2027
diff changeset
  2218
    if (ec_mutex_lock_interruptible(&master->master_mutex))
1255
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2219
        return -EINTR;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2220
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2221
    if (!(sc = ec_master_get_config(master, data.config_index))) {
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2027
diff changeset
  2222
        ec_mutex_unlock(&master->master_mutex);
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
  2223
        return -ENOENT;
1255
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2224
    }
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2225
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2027
diff changeset
  2226
    ec_mutex_unlock(&master->master_mutex); // FIXME
1255
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2227
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2228
    ecrt_slave_config_pdo_assign_clear(sc, data.sync_index);
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2229
    return 0;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2230
}
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2231
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2232
/*****************************************************************************/
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2233
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  2234
/** Add an entry to a PDO's mapping.
1255
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2235
 */
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2236
int ec_cdev_ioctl_sc_add_entry(
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2237
        ec_master_t *master, /**< EtherCAT master. */
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2238
        unsigned long arg, /**< ioctl() argument. */
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2239
        ec_cdev_priv_t *priv /**< Private data structure of file handle. */
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2240
        )
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2241
{
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2242
    ec_ioctl_add_pdo_entry_t data;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2243
    ec_slave_config_t *sc;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2244
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  2245
    if (unlikely(!priv->requested))
1255
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2246
        return -EPERM;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2247
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2248
    if (copy_from_user(&data, (void __user *) arg, sizeof(data)))
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2249
        return -EFAULT;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2250
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2027
diff changeset
  2251
    if (ec_mutex_lock_interruptible(&master->master_mutex))
1255
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2252
        return -EINTR;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2253
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2254
    if (!(sc = ec_master_get_config(master, data.config_index))) {
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2027
diff changeset
  2255
        ec_mutex_unlock(&master->master_mutex);
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
  2256
        return -ENOENT;
1255
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2257
    }
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2258
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2027
diff changeset
  2259
    ec_mutex_unlock(&master->master_mutex); // FIXME
1255
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2260
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2261
    return ecrt_slave_config_pdo_mapping_add(sc, data.pdo_index,
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2262
            data.entry_index, data.entry_subindex, data.entry_bit_length);
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2263
}
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2264
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2265
/*****************************************************************************/
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2266
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  2267
/** Clears the mapping of a PDO.
1255
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2268
 */
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2269
int ec_cdev_ioctl_sc_clear_entries(
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2270
        ec_master_t *master, /**< EtherCAT master. */
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2271
        unsigned long arg, /**< ioctl() argument. */
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2272
        ec_cdev_priv_t *priv /**< Private data structure of file handle. */
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2273
        )
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2274
{
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2275
    ec_ioctl_config_pdo_t data;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2276
    ec_slave_config_t *sc;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2277
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  2278
    if (unlikely(!priv->requested))
1255
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2279
        return -EPERM;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2280
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2281
    if (copy_from_user(&data, (void __user *) arg, sizeof(data)))
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2282
        return -EFAULT;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2283
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2027
diff changeset
  2284
    if (ec_mutex_lock_interruptible(&master->master_mutex))
1255
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2285
        return -EINTR;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2286
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2287
    if (!(sc = ec_master_get_config(master, data.config_index))) {
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2027
diff changeset
  2288
        ec_mutex_unlock(&master->master_mutex);
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
  2289
        return -ENOENT;
1255
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2290
    }
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2291
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2027
diff changeset
  2292
    ec_mutex_unlock(&master->master_mutex); // FIXME
1255
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2293
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2294
    ecrt_slave_config_pdo_mapping_clear(sc, data.index);
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2295
    return 0;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2296
}
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2297
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2298
/*****************************************************************************/
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2299
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  2300
/** Registers a PDO entry.
1255
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2301
 */
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2302
int ec_cdev_ioctl_sc_reg_pdo_entry(
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2303
        ec_master_t *master, /**< EtherCAT master. */
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2304
        unsigned long arg, /**< ioctl() argument. */
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2305
        ec_cdev_priv_t *priv /**< Private data structure of file handle. */
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2306
        )
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2307
{
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2308
    ec_ioctl_reg_pdo_entry_t data;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2309
    ec_slave_config_t *sc;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2310
    ec_domain_t *domain;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2311
    int ret;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2312
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  2313
    if (unlikely(!priv->requested))
1255
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2314
        return -EPERM;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2315
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2316
    if (copy_from_user(&data, (void __user *) arg, sizeof(data)))
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2317
        return -EFAULT;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2318
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2027
diff changeset
  2319
    if (ec_mutex_lock_interruptible(&master->master_mutex))
1255
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2320
        return -EINTR;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2321
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2322
    if (!(sc = ec_master_get_config(master, data.config_index))) {
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2027
diff changeset
  2323
        ec_mutex_unlock(&master->master_mutex);
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
  2324
        return -ENOENT;
1255
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2325
    }
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2326
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2327
    if (!(domain = ec_master_find_domain(master, data.domain_index))) {
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2027
diff changeset
  2328
        ec_mutex_unlock(&master->master_mutex);
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
  2329
        return -ENOENT;
1255
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2330
    }
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2331
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2027
diff changeset
  2332
    ec_mutex_unlock(&master->master_mutex); // FIXME
1255
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2333
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2334
    ret = ecrt_slave_config_reg_pdo_entry(sc, data.entry_index,
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2335
            data.entry_subindex, domain, &data.bit_position);
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2336
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2337
    if (copy_to_user((void __user *) arg, &data, sizeof(data)))
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2338
        return -EFAULT;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2339
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2340
    return ret;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2341
}
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2342
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2343
/*****************************************************************************/
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2344
1448
d7ba0c408a07 Merged ecrt_slave_config_dc_assign_activate() and
Florian Pose <fp@igh-essen.com>
parents: 1447
diff changeset
  2345
/** Sets the DC AssignActivate word and the sync signal times.
d7ba0c408a07 Merged ecrt_slave_config_dc_assign_activate() and
Florian Pose <fp@igh-essen.com>
parents: 1447
diff changeset
  2346
 */
d7ba0c408a07 Merged ecrt_slave_config_dc_assign_activate() and
Florian Pose <fp@igh-essen.com>
parents: 1447
diff changeset
  2347
int ec_cdev_ioctl_sc_dc(
1413
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1401
diff changeset
  2348
        ec_master_t *master, /**< EtherCAT master. */
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1401
diff changeset
  2349
        unsigned long arg, /**< ioctl() argument. */
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1401
diff changeset
  2350
        ec_cdev_priv_t *priv /**< Private data structure of file handle. */
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1401
diff changeset
  2351
        )
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1401
diff changeset
  2352
{
1455
aa18fcfe0fd1 Output DC config in 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 1454
diff changeset
  2353
    ec_ioctl_config_t data;
1413
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1401
diff changeset
  2354
    ec_slave_config_t *sc;
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1401
diff changeset
  2355
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  2356
    if (unlikely(!priv->requested))
1413
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1401
diff changeset
  2357
        return -EPERM;
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1401
diff changeset
  2358
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1401
diff changeset
  2359
    if (copy_from_user(&data, (void __user *) arg, sizeof(data)))
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1401
diff changeset
  2360
        return -EFAULT;
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1401
diff changeset
  2361
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2027
diff changeset
  2362
    if (ec_mutex_lock_interruptible(&master->master_mutex))
1413
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1401
diff changeset
  2363
        return -EINTR;
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1401
diff changeset
  2364
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1401
diff changeset
  2365
    if (!(sc = ec_master_get_config(master, data.config_index))) {
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2027
diff changeset
  2366
        ec_mutex_unlock(&master->master_mutex);
1413
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1401
diff changeset
  2367
        return -ENOENT;
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1401
diff changeset
  2368
    }
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1401
diff changeset
  2369
1455
aa18fcfe0fd1 Output DC config in 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 1454
diff changeset
  2370
    ecrt_slave_config_dc(sc, data.dc_assign_activate,
aa18fcfe0fd1 Output DC config in 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 1454
diff changeset
  2371
            data.dc_sync[0].cycle_time,
aa18fcfe0fd1 Output DC config in 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 1454
diff changeset
  2372
            data.dc_sync[0].shift_time,
aa18fcfe0fd1 Output DC config in 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 1454
diff changeset
  2373
            data.dc_sync[1].cycle_time,
aa18fcfe0fd1 Output DC config in 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 1454
diff changeset
  2374
            data.dc_sync[1].shift_time);
1413
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1401
diff changeset
  2375
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2027
diff changeset
  2376
    ec_mutex_unlock(&master->master_mutex);
1413
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1401
diff changeset
  2377
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1401
diff changeset
  2378
    return 0;
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1401
diff changeset
  2379
}
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1401
diff changeset
  2380
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1401
diff changeset
  2381
/*****************************************************************************/
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1401
diff changeset
  2382
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  2383
/** Configures an SDO.
1255
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2384
 */
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2385
int ec_cdev_ioctl_sc_sdo(
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2386
        ec_master_t *master, /**< EtherCAT master. */
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2387
        unsigned long arg, /**< ioctl() argument. */
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2388
        ec_cdev_priv_t *priv /**< Private data structure of file handle. */
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2389
        )
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2390
{
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2391
    ec_ioctl_sc_sdo_t data;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2392
    ec_slave_config_t *sc;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2393
    uint8_t *sdo_data = NULL;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2394
    int ret;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2395
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  2396
    if (unlikely(!priv->requested))
1255
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2397
        return -EPERM;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2398
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2399
    if (copy_from_user(&data, (void __user *) arg, sizeof(data)))
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2400
        return -EFAULT;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2401
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2402
    if (!data.size)
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2403
        return -EINVAL;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2404
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2405
    if (!(sdo_data = kmalloc(data.size, GFP_KERNEL))) {
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2406
        return -ENOMEM;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2407
    }
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2408
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2409
    if (copy_from_user(sdo_data, (void __user *) data.data, data.size)) {
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2410
        kfree(sdo_data);
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2411
        return -EFAULT;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2412
    }
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2413
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2027
diff changeset
  2414
    if (ec_mutex_lock_interruptible(&master->master_mutex)) {
1255
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2415
        kfree(sdo_data);
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2416
        return -EINTR;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2417
    }
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2418
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2419
    if (!(sc = ec_master_get_config(master, data.config_index))) {
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2027
diff changeset
  2420
        ec_mutex_unlock(&master->master_mutex);
1255
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2421
        kfree(sdo_data);
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
  2422
        return -ENOENT;
1255
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2423
    }
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2424
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2027
diff changeset
  2425
    ec_mutex_unlock(&master->master_mutex); // FIXME
1255
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2426
1526
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1518
diff changeset
  2427
    if (data.complete_access) {
1831
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1826
diff changeset
  2428
        ret = ecrt_slave_config_complete_sdo(sc,
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1826
diff changeset
  2429
                data.index, sdo_data, data.size);
1526
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1518
diff changeset
  2430
    } else {
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1518
diff changeset
  2431
        ret = ecrt_slave_config_sdo(sc, data.index, data.subindex, sdo_data,
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1518
diff changeset
  2432
                data.size);
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1518
diff changeset
  2433
    }
1255
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2434
    kfree(sdo_data);
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2435
    return ret;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2436
}
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  2437
1258
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2438
/*****************************************************************************/
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2439
1352
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2440
/** Create an SDO request.
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2441
 */
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2442
int ec_cdev_ioctl_sc_create_sdo_request(
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2443
        ec_master_t *master, /**< EtherCAT master. */
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2444
        unsigned long arg, /**< ioctl() argument. */
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2445
        ec_cdev_priv_t *priv /**< Private data structure of file handle. */
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2446
        )
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2447
{
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2448
    ec_ioctl_sdo_request_t data;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2449
    ec_slave_config_t *sc;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2450
    ec_sdo_request_t *req;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2451
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  2452
    if (unlikely(!priv->requested))
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  2453
        return -EPERM;
1352
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2454
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2455
    if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2456
        return -EFAULT;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2457
    }
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2458
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2459
    data.request_index = 0;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2460
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2027
diff changeset
  2461
    if (ec_mutex_lock_interruptible(&master->master_mutex))
1352
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2462
        return -EINTR;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2463
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2464
    sc = ec_master_get_config(master, data.config_index);
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2465
    if (!sc) {
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2027
diff changeset
  2466
        ec_mutex_unlock(&master->master_mutex);
1352
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2467
        return -ENOENT;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2468
    }
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2469
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2470
    list_for_each_entry(req, &sc->sdo_requests, list) {
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2471
        data.request_index++;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2472
    }
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2473
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2027
diff changeset
  2474
    ec_mutex_unlock(&master->master_mutex);
1352
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2475
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2476
    req = ecrt_slave_config_create_sdo_request_err(sc, data.sdo_index,
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2477
            data.sdo_subindex, data.size);
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2478
    if (IS_ERR(req))
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2479
        return PTR_ERR(req);
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2480
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2481
    if (copy_to_user((void __user *) arg, &data, sizeof(data)))
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2482
        return -EFAULT;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2483
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2484
    return 0;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2485
}
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2486
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2487
/*****************************************************************************/
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2488
1264
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2489
/** Create a VoE handler.
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2490
 */
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2491
int ec_cdev_ioctl_sc_create_voe_handler(
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2492
        ec_master_t *master, /**< EtherCAT master. */
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2493
        unsigned long arg, /**< ioctl() argument. */
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2494
        ec_cdev_priv_t *priv /**< Private data structure of file handle. */
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2495
        )
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2496
{
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2497
    ec_ioctl_voe_t data;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2498
    ec_slave_config_t *sc;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2499
    ec_voe_handler_t *voe;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2500
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  2501
    if (unlikely(!priv->requested))
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  2502
        return -EPERM;
1264
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2503
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2504
    if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2505
        return -EFAULT;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2506
    }
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2507
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2508
    data.voe_index = 0;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2509
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2027
diff changeset
  2510
    if (ec_mutex_lock_interruptible(&master->master_mutex))
1264
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2511
        return -EINTR;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2512
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2513
    sc = ec_master_get_config(master, data.config_index);
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2514
    if (!sc) {
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2027
diff changeset
  2515
        ec_mutex_unlock(&master->master_mutex);
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
  2516
        return -ENOENT;
1264
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2517
    }
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2518
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2519
    list_for_each_entry(voe, &sc->voe_handlers, list) {
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2520
        data.voe_index++;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2521
    }
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2522
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2027
diff changeset
  2523
    ec_mutex_unlock(&master->master_mutex);
1264
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2524
1312
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1284
diff changeset
  2525
    voe = ecrt_slave_config_create_voe_handler_err(sc, data.size);
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1284
diff changeset
  2526
    if (IS_ERR(voe))
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1284
diff changeset
  2527
        return PTR_ERR(voe);
1264
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2528
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2529
    if (copy_to_user((void __user *) arg, &data, sizeof(data)))
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2530
        return -EFAULT;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2531
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2532
    return 0;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2533
}
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2534
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2535
/*****************************************************************************/
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2536
1259
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2537
/** Get the slave configuration's state.
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2538
 */
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2539
int ec_cdev_ioctl_sc_state(
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2540
        ec_master_t *master, /**< EtherCAT master. */
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2541
        unsigned long arg, /**< ioctl() argument. */
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2542
        ec_cdev_priv_t *priv /**< Private data structure of file handle. */
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2543
        )
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2544
{
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2545
    ec_ioctl_sc_state_t data;
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2546
    const ec_slave_config_t *sc;
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2547
    ec_slave_config_state_t state;
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2548
    
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  2549
    if (unlikely(!priv->requested))
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  2550
        return -EPERM;
1259
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2551
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2552
    if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2553
        return -EFAULT;
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2554
    }
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2555
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2027
diff changeset
  2556
    if (ec_mutex_lock_interruptible(&master->master_mutex))
1259
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2557
        return -EINTR;
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2558
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2559
    if (!(sc = ec_master_get_config_const(master, data.config_index))) {
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2027
diff changeset
  2560
        ec_mutex_unlock(&master->master_mutex);
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
  2561
        return -ENOENT;
1259
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2562
    }
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2563
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2564
    ecrt_slave_config_state(sc, &state);
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2565
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2027
diff changeset
  2566
    ec_mutex_unlock(&master->master_mutex);
1259
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2567
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2568
    if (copy_to_user((void __user *) data.state, &state, sizeof(state)))
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2569
        return -EFAULT;
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2570
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2571
    return 0;
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2572
}
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2573
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2574
/*****************************************************************************/
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2575
1862
05d224a66270 Implemented ecrt_slave_config_idn() for user-space library.
Florian Pose <fp@igh-essen.com>
parents: 1857
diff changeset
  2576
/** Configures an IDN.
05d224a66270 Implemented ecrt_slave_config_idn() for user-space library.
Florian Pose <fp@igh-essen.com>
parents: 1857
diff changeset
  2577
 */
05d224a66270 Implemented ecrt_slave_config_idn() for user-space library.
Florian Pose <fp@igh-essen.com>
parents: 1857
diff changeset
  2578
int ec_cdev_ioctl_sc_idn(
05d224a66270 Implemented ecrt_slave_config_idn() for user-space library.
Florian Pose <fp@igh-essen.com>
parents: 1857
diff changeset
  2579
        ec_master_t *master, /**< EtherCAT master. */
05d224a66270 Implemented ecrt_slave_config_idn() for user-space library.
Florian Pose <fp@igh-essen.com>
parents: 1857
diff changeset
  2580
        unsigned long arg, /**< ioctl() argument. */
05d224a66270 Implemented ecrt_slave_config_idn() for user-space library.
Florian Pose <fp@igh-essen.com>
parents: 1857
diff changeset
  2581
        ec_cdev_priv_t *priv /**< Private data structure of file handle. */
05d224a66270 Implemented ecrt_slave_config_idn() for user-space library.
Florian Pose <fp@igh-essen.com>
parents: 1857
diff changeset
  2582
        )
05d224a66270 Implemented ecrt_slave_config_idn() for user-space library.
Florian Pose <fp@igh-essen.com>
parents: 1857
diff changeset
  2583
{
05d224a66270 Implemented ecrt_slave_config_idn() for user-space library.
Florian Pose <fp@igh-essen.com>
parents: 1857
diff changeset
  2584
    ec_ioctl_sc_idn_t ioctl;
05d224a66270 Implemented ecrt_slave_config_idn() for user-space library.
Florian Pose <fp@igh-essen.com>
parents: 1857
diff changeset
  2585
    ec_slave_config_t *sc;
05d224a66270 Implemented ecrt_slave_config_idn() for user-space library.
Florian Pose <fp@igh-essen.com>
parents: 1857
diff changeset
  2586
    uint8_t *data = NULL;
05d224a66270 Implemented ecrt_slave_config_idn() for user-space library.
Florian Pose <fp@igh-essen.com>
parents: 1857
diff changeset
  2587
    int ret;
05d224a66270 Implemented ecrt_slave_config_idn() for user-space library.
Florian Pose <fp@igh-essen.com>
parents: 1857
diff changeset
  2588
05d224a66270 Implemented ecrt_slave_config_idn() for user-space library.
Florian Pose <fp@igh-essen.com>
parents: 1857
diff changeset
  2589
    if (unlikely(!priv->requested))
05d224a66270 Implemented ecrt_slave_config_idn() for user-space library.
Florian Pose <fp@igh-essen.com>
parents: 1857
diff changeset
  2590
        return -EPERM;
05d224a66270 Implemented ecrt_slave_config_idn() for user-space library.
Florian Pose <fp@igh-essen.com>
parents: 1857
diff changeset
  2591
05d224a66270 Implemented ecrt_slave_config_idn() for user-space library.
Florian Pose <fp@igh-essen.com>
parents: 1857
diff changeset
  2592
    if (copy_from_user(&ioctl, (void __user *) arg, sizeof(ioctl)))
05d224a66270 Implemented ecrt_slave_config_idn() for user-space library.
Florian Pose <fp@igh-essen.com>
parents: 1857
diff changeset
  2593
        return -EFAULT;
05d224a66270 Implemented ecrt_slave_config_idn() for user-space library.
Florian Pose <fp@igh-essen.com>
parents: 1857
diff changeset
  2594
05d224a66270 Implemented ecrt_slave_config_idn() for user-space library.
Florian Pose <fp@igh-essen.com>
parents: 1857
diff changeset
  2595
    if (!ioctl.size)
05d224a66270 Implemented ecrt_slave_config_idn() for user-space library.
Florian Pose <fp@igh-essen.com>
parents: 1857
diff changeset
  2596
        return -EINVAL;
05d224a66270 Implemented ecrt_slave_config_idn() for user-space library.
Florian Pose <fp@igh-essen.com>
parents: 1857
diff changeset
  2597
05d224a66270 Implemented ecrt_slave_config_idn() for user-space library.
Florian Pose <fp@igh-essen.com>
parents: 1857
diff changeset
  2598
    if (!(data = kmalloc(ioctl.size, GFP_KERNEL))) {
05d224a66270 Implemented ecrt_slave_config_idn() for user-space library.
Florian Pose <fp@igh-essen.com>
parents: 1857
diff changeset
  2599
        return -ENOMEM;
05d224a66270 Implemented ecrt_slave_config_idn() for user-space library.
Florian Pose <fp@igh-essen.com>
parents: 1857
diff changeset
  2600
    }
05d224a66270 Implemented ecrt_slave_config_idn() for user-space library.
Florian Pose <fp@igh-essen.com>
parents: 1857
diff changeset
  2601
05d224a66270 Implemented ecrt_slave_config_idn() for user-space library.
Florian Pose <fp@igh-essen.com>
parents: 1857
diff changeset
  2602
    if (copy_from_user(data, (void __user *) ioctl.data, ioctl.size)) {
05d224a66270 Implemented ecrt_slave_config_idn() for user-space library.
Florian Pose <fp@igh-essen.com>
parents: 1857
diff changeset
  2603
        kfree(data);
05d224a66270 Implemented ecrt_slave_config_idn() for user-space library.
Florian Pose <fp@igh-essen.com>
parents: 1857
diff changeset
  2604
        return -EFAULT;
05d224a66270 Implemented ecrt_slave_config_idn() for user-space library.
Florian Pose <fp@igh-essen.com>
parents: 1857
diff changeset
  2605
    }
05d224a66270 Implemented ecrt_slave_config_idn() for user-space library.
Florian Pose <fp@igh-essen.com>
parents: 1857
diff changeset
  2606
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2027
diff changeset
  2607
    if (ec_mutex_lock_interruptible(&master->master_mutex)) {
1862
05d224a66270 Implemented ecrt_slave_config_idn() for user-space library.
Florian Pose <fp@igh-essen.com>
parents: 1857
diff changeset
  2608
        kfree(data);
05d224a66270 Implemented ecrt_slave_config_idn() for user-space library.
Florian Pose <fp@igh-essen.com>
parents: 1857
diff changeset
  2609
        return -EINTR;
05d224a66270 Implemented ecrt_slave_config_idn() for user-space library.
Florian Pose <fp@igh-essen.com>
parents: 1857
diff changeset
  2610
    }
05d224a66270 Implemented ecrt_slave_config_idn() for user-space library.
Florian Pose <fp@igh-essen.com>
parents: 1857
diff changeset
  2611
05d224a66270 Implemented ecrt_slave_config_idn() for user-space library.
Florian Pose <fp@igh-essen.com>
parents: 1857
diff changeset
  2612
    if (!(sc = ec_master_get_config(master, ioctl.config_index))) {
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2027
diff changeset
  2613
        ec_mutex_unlock(&master->master_mutex);
1862
05d224a66270 Implemented ecrt_slave_config_idn() for user-space library.
Florian Pose <fp@igh-essen.com>
parents: 1857
diff changeset
  2614
        kfree(data);
05d224a66270 Implemented ecrt_slave_config_idn() for user-space library.
Florian Pose <fp@igh-essen.com>
parents: 1857
diff changeset
  2615
        return -ENOENT;
05d224a66270 Implemented ecrt_slave_config_idn() for user-space library.
Florian Pose <fp@igh-essen.com>
parents: 1857
diff changeset
  2616
    }
05d224a66270 Implemented ecrt_slave_config_idn() for user-space library.
Florian Pose <fp@igh-essen.com>
parents: 1857
diff changeset
  2617
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2027
diff changeset
  2618
    ec_mutex_unlock(&master->master_mutex); // FIXME
1862
05d224a66270 Implemented ecrt_slave_config_idn() for user-space library.
Florian Pose <fp@igh-essen.com>
parents: 1857
diff changeset
  2619
1945
f9204699e799 Incremented ioctl interface version; Minor changes.
Florian Pose <fp@igh-essen.com>
parents: 1944
diff changeset
  2620
    ret = ecrt_slave_config_idn(
1952
7d9fb723fc4b Added drive_no parameter to SoE layer.
Florian Pose <fp@igh-essen.com>
parents: 1948
diff changeset
  2621
            sc, ioctl.drive_no, ioctl.idn, ioctl.al_state, data, ioctl.size);
1862
05d224a66270 Implemented ecrt_slave_config_idn() for user-space library.
Florian Pose <fp@igh-essen.com>
parents: 1857
diff changeset
  2622
    kfree(data);
05d224a66270 Implemented ecrt_slave_config_idn() for user-space library.
Florian Pose <fp@igh-essen.com>
parents: 1857
diff changeset
  2623
    return ret;
05d224a66270 Implemented ecrt_slave_config_idn() for user-space library.
Florian Pose <fp@igh-essen.com>
parents: 1857
diff changeset
  2624
}
05d224a66270 Implemented ecrt_slave_config_idn() for user-space library.
Florian Pose <fp@igh-essen.com>
parents: 1857
diff changeset
  2625
05d224a66270 Implemented ecrt_slave_config_idn() for user-space library.
Florian Pose <fp@igh-essen.com>
parents: 1857
diff changeset
  2626
/*****************************************************************************/
05d224a66270 Implemented ecrt_slave_config_idn() for user-space library.
Florian Pose <fp@igh-essen.com>
parents: 1857
diff changeset
  2627
1258
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2628
/** Gets the domain's offset in the total process data.
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2629
 */
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2630
int ec_cdev_ioctl_domain_offset(
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2631
        ec_master_t *master, /**< EtherCAT master. */
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2632
        unsigned long arg, /**< ioctl() argument. */
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2633
        ec_cdev_priv_t *priv /**< Private data structure of file handle. */
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2634
        )
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2635
{
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2636
    int offset = 0;
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2637
    const ec_domain_t *domain;
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2638
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  2639
    if (unlikely(!priv->requested))
1258
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2640
        return -EPERM;
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2641
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2027
diff changeset
  2642
    if (ec_mutex_lock_interruptible(&master->master_mutex)) {
1258
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2643
        return -EINTR;
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2644
    }
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2645
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2646
    list_for_each_entry(domain, &master->domains, list) {
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2647
        if (domain->index == arg) {
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2027
diff changeset
  2648
            ec_mutex_unlock(&master->master_mutex);
1258
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2649
            return offset;
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2650
        }
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2651
        offset += ecrt_domain_size(domain);
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2652
    }
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2653
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2027
diff changeset
  2654
    ec_mutex_unlock(&master->master_mutex);
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
  2655
    return -ENOENT;
1258
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2656
}
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2657
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2658
/*****************************************************************************/
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2659
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2660
/** Process the domain.
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2661
 */
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2662
int ec_cdev_ioctl_domain_process(
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2663
        ec_master_t *master, /**< EtherCAT master. */
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2664
        unsigned long arg, /**< ioctl() argument. */
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2665
        ec_cdev_priv_t *priv /**< Private data structure of file handle. */
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2666
        )
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2667
{
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2668
    ec_domain_t *domain;
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2669
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  2670
    if (unlikely(!priv->requested))
1258
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2671
        return -EPERM;
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2672
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2027
diff changeset
  2673
    if (ec_mutex_lock_interruptible(&master->master_mutex))
1258
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2674
        return -EINTR;
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2675
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2676
    if (!(domain = ec_master_find_domain(master, arg))) {
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2027
diff changeset
  2677
        ec_mutex_unlock(&master->master_mutex);
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
  2678
        return -ENOENT;
1258
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2679
    }
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2680
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2681
    ecrt_domain_process(domain);
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2027
diff changeset
  2682
    ec_mutex_unlock(&master->master_mutex);
1258
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2683
    return 0;
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2684
}
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2685
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2686
/*****************************************************************************/
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2687
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2688
/** Queue the domain.
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2689
 */
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2690
int ec_cdev_ioctl_domain_queue(
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2691
        ec_master_t *master, /**< EtherCAT master. */
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2692
        unsigned long arg, /**< ioctl() argument. */
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2693
        ec_cdev_priv_t *priv /**< Private data structure of file handle. */
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2694
        )
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2695
{
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2696
    ec_domain_t *domain;
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2697
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  2698
    if (unlikely(!priv->requested))
1258
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2699
        return -EPERM;
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2700
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2027
diff changeset
  2701
    if (ec_mutex_lock_interruptible(&master->master_mutex))
1258
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2702
        return -EINTR;
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2703
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2704
    if (!(domain = ec_master_find_domain(master, arg))) {
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2027
diff changeset
  2705
        ec_mutex_unlock(&master->master_mutex);
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
  2706
        return -ENOENT;
1258
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2707
    }
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2708
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2709
    ecrt_domain_queue(domain);
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2027
diff changeset
  2710
    ec_mutex_unlock(&master->master_mutex);
1258
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2711
    return 0;
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2712
}
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  2713
1259
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2714
/*****************************************************************************/
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2715
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2716
/** Get the domain state.
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2717
 */
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2718
int ec_cdev_ioctl_domain_state(
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2719
        ec_master_t *master, /**< EtherCAT master. */
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2720
        unsigned long arg, /**< ioctl() argument. */
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2721
        ec_cdev_priv_t *priv /**< Private data structure of file handle. */
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2722
        )
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2723
{
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2724
    ec_ioctl_domain_state_t data;
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2725
    const ec_domain_t *domain;
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2726
    ec_domain_state_t state;
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2727
    
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  2728
    if (unlikely(!priv->requested))
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  2729
        return -EPERM;
1259
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2730
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2731
    if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2732
        return -EFAULT;
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2733
    }
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2734
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2027
diff changeset
  2735
    if (ec_mutex_lock_interruptible(&master->master_mutex))
1259
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2736
        return -EINTR;
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2737
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2738
    if (!(domain = ec_master_find_domain_const(master, data.domain_index))) {
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2027
diff changeset
  2739
        ec_mutex_unlock(&master->master_mutex);
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
  2740
        return -ENOENT;
1259
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2741
    }
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2742
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2743
    ecrt_domain_state(domain, &state);
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2744
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2027
diff changeset
  2745
    ec_mutex_unlock(&master->master_mutex);
1259
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2746
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2747
    if (copy_to_user((void __user *) data.state, &state, sizeof(state)))
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2748
        return -EFAULT;
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2749
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2750
    return 0;
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2751
}
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  2752
1264
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2753
/*****************************************************************************/
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2754
1352
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2755
/** Sets an SDO request's timeout.
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2756
 */
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2757
int ec_cdev_ioctl_sdo_request_timeout(
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2758
        ec_master_t *master, /**< EtherCAT master. */
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2759
        unsigned long arg, /**< ioctl() argument. */
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2760
        ec_cdev_priv_t *priv /**< Private data structure of file handle. */
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2761
        )
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2762
{
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2763
    ec_ioctl_sdo_request_t data;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2764
    ec_slave_config_t *sc;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2765
    ec_sdo_request_t *req;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2766
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  2767
    if (unlikely(!priv->requested))
1352
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2768
        return -EPERM;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2769
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2770
    if (copy_from_user(&data, (void __user *) arg, sizeof(data)))
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2771
        return -EFAULT;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2772
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2027
diff changeset
  2773
    if (ec_mutex_lock_interruptible(&master->master_mutex))
1352
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2774
        return -EINTR;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2775
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2776
    if (!(sc = ec_master_get_config(master, data.config_index))) {
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2027
diff changeset
  2777
        ec_mutex_unlock(&master->master_mutex);
1352
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2778
        return -ENOENT;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2779
    }
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2780
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2781
    if (!(req = ec_slave_config_find_sdo_request(sc, data.request_index))) {
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2027
diff changeset
  2782
        ec_mutex_unlock(&master->master_mutex);
1352
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2783
        return -ENOENT;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2784
    }
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2785
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2027
diff changeset
  2786
    ec_mutex_unlock(&master->master_mutex);
1352
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2787
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2788
    ecrt_sdo_request_timeout(req, data.timeout);
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2789
    return 0;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2790
}
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2791
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2792
/*****************************************************************************/
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2793
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2794
/** Gets an SDO request's state.
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2795
 */
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2796
int ec_cdev_ioctl_sdo_request_state(
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2797
        ec_master_t *master, /**< EtherCAT master. */
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2798
        unsigned long arg, /**< ioctl() argument. */
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2799
        ec_cdev_priv_t *priv /**< Private data structure of file handle. */
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2800
        )
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2801
{
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2802
    ec_ioctl_sdo_request_t data;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2803
    ec_slave_config_t *sc;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2804
    ec_sdo_request_t *req;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2805
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  2806
    if (unlikely(!priv->requested))
1352
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2807
        return -EPERM;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2808
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2809
    if (copy_from_user(&data, (void __user *) arg, sizeof(data)))
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2810
        return -EFAULT;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2811
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2027
diff changeset
  2812
    if (ec_mutex_lock_interruptible(&master->master_mutex))
1352
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2813
        return -EINTR;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2814
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2815
    if (!(sc = ec_master_get_config(master, data.config_index))) {
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2027
diff changeset
  2816
        ec_mutex_unlock(&master->master_mutex);
1352
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2817
        return -ENOENT;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2818
    }
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2819
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2820
    if (!(req = ec_slave_config_find_sdo_request(sc, data.request_index))) {
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2027
diff changeset
  2821
        ec_mutex_unlock(&master->master_mutex);
1352
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2822
        return -ENOENT;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2823
    }
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2824
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2825
    data.state = ecrt_sdo_request_state(req);
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2826
    if (data.state == EC_REQUEST_SUCCESS && req->dir == EC_DIR_INPUT)
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2827
        data.size = ecrt_sdo_request_data_size(req);
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2828
    else
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2829
        data.size = 0;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2830
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2027
diff changeset
  2831
    ec_mutex_unlock(&master->master_mutex);
1352
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2832
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2833
    if (copy_to_user((void __user *) arg, &data, sizeof(data)))
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2834
        return -EFAULT;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2835
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2836
    return 0;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2837
}
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2838
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2839
/*****************************************************************************/
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2840
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2841
/** Starts an SDO read operation.
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2842
 */
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2843
int ec_cdev_ioctl_sdo_request_read(
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2844
        ec_master_t *master, /**< EtherCAT master. */
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2845
        unsigned long arg, /**< ioctl() argument. */
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2846
        ec_cdev_priv_t *priv /**< Private data structure of file handle. */
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2847
        )
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2848
{
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2849
    ec_ioctl_sdo_request_t data;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2850
    ec_slave_config_t *sc;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2851
    ec_sdo_request_t *req;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2852
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  2853
    if (unlikely(!priv->requested))
1352
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2854
        return -EPERM;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2855
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2856
    if (copy_from_user(&data, (void __user *) arg, sizeof(data)))
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2857
        return -EFAULT;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2858
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2027
diff changeset
  2859
    if (ec_mutex_lock_interruptible(&master->master_mutex))
1352
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2860
        return -EINTR;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2861
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2862
    if (!(sc = ec_master_get_config(master, data.config_index))) {
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2027
diff changeset
  2863
        ec_mutex_unlock(&master->master_mutex);
1352
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2864
        return -ENOENT;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2865
    }
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2866
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2867
    if (!(req = ec_slave_config_find_sdo_request(sc, data.request_index))) {
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2027
diff changeset
  2868
        ec_mutex_unlock(&master->master_mutex);
1352
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2869
        return -ENOENT;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2870
    }
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2871
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2027
diff changeset
  2872
    ec_mutex_unlock(&master->master_mutex);
1352
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2873
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2874
    ecrt_sdo_request_read(req);
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2875
    return 0;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2876
}
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2877
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2878
/*****************************************************************************/
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2879
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2880
/** Starts an SDO write operation.
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2881
 */
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2882
int ec_cdev_ioctl_sdo_request_write(
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2883
        ec_master_t *master, /**< EtherCAT master. */
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2884
        unsigned long arg, /**< ioctl() argument. */
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2885
        ec_cdev_priv_t *priv /**< Private data structure of file handle. */
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2886
        )
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2887
{
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2888
    ec_ioctl_sdo_request_t data;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2889
    ec_slave_config_t *sc;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2890
    ec_sdo_request_t *req;
1361
9c16b62326fa Fixed SDO download via library.
Florian Pose <fp@igh-essen.com>
parents: 1352
diff changeset
  2891
    int ret;
1352
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2892
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  2893
    if (unlikely(!priv->requested))
1352
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2894
        return -EPERM;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2895
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2896
    if (copy_from_user(&data, (void __user *) arg, sizeof(data)))
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2897
        return -EFAULT;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2898
1361
9c16b62326fa Fixed SDO download via library.
Florian Pose <fp@igh-essen.com>
parents: 1352
diff changeset
  2899
    if (!data.size) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
  2900
        EC_MASTER_ERR(master, "SDO download: Data size may not be zero!\n");
1361
9c16b62326fa Fixed SDO download via library.
Florian Pose <fp@igh-essen.com>
parents: 1352
diff changeset
  2901
        return -EINVAL;
9c16b62326fa Fixed SDO download via library.
Florian Pose <fp@igh-essen.com>
parents: 1352
diff changeset
  2902
    }
9c16b62326fa Fixed SDO download via library.
Florian Pose <fp@igh-essen.com>
parents: 1352
diff changeset
  2903
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2027
diff changeset
  2904
    if (ec_mutex_lock_interruptible(&master->master_mutex))
1352
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2905
        return -EINTR;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2906
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2907
    if (!(sc = ec_master_get_config(master, data.config_index))) {
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2027
diff changeset
  2908
        ec_mutex_unlock(&master->master_mutex);
1352
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2909
        return -ENOENT;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2910
    }
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2911
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2912
    if (!(req = ec_slave_config_find_sdo_request(sc, data.request_index))) {
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2027
diff changeset
  2913
        ec_mutex_unlock(&master->master_mutex);
1352
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2914
        return -ENOENT;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2915
    }
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2916
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2027
diff changeset
  2917
    ec_mutex_unlock(&master->master_mutex);
1352
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2918
1361
9c16b62326fa Fixed SDO download via library.
Florian Pose <fp@igh-essen.com>
parents: 1352
diff changeset
  2919
    ret = ec_sdo_request_alloc(req, data.size);
9c16b62326fa Fixed SDO download via library.
Florian Pose <fp@igh-essen.com>
parents: 1352
diff changeset
  2920
    if (ret)
9c16b62326fa Fixed SDO download via library.
Florian Pose <fp@igh-essen.com>
parents: 1352
diff changeset
  2921
        return ret;
9c16b62326fa Fixed SDO download via library.
Florian Pose <fp@igh-essen.com>
parents: 1352
diff changeset
  2922
9c16b62326fa Fixed SDO download via library.
Florian Pose <fp@igh-essen.com>
parents: 1352
diff changeset
  2923
    if (copy_from_user(req->data, (void __user *) data.data, data.size))
9c16b62326fa Fixed SDO download via library.
Florian Pose <fp@igh-essen.com>
parents: 1352
diff changeset
  2924
        return -EFAULT;
9c16b62326fa Fixed SDO download via library.
Florian Pose <fp@igh-essen.com>
parents: 1352
diff changeset
  2925
9c16b62326fa Fixed SDO download via library.
Florian Pose <fp@igh-essen.com>
parents: 1352
diff changeset
  2926
    req->data_size = data.size;
1352
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2927
    ecrt_sdo_request_write(req);
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2928
    return 0;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2929
}
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2930
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2931
/*****************************************************************************/
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2932
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2933
/** Read SDO data.
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2934
 */
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2935
int ec_cdev_ioctl_sdo_request_data(
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2936
        ec_master_t *master, /**< EtherCAT master. */
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2937
        unsigned long arg, /**< ioctl() argument. */
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2938
        ec_cdev_priv_t *priv /**< Private data structure of file handle. */
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2939
        )
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2940
{
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2941
    ec_ioctl_sdo_request_t data;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2942
    ec_slave_config_t *sc;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2943
    ec_sdo_request_t *req;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2944
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  2945
    if (unlikely(!priv->requested))
1352
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2946
        return -EPERM;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2947
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2948
    if (copy_from_user(&data, (void __user *) arg, sizeof(data)))
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2949
        return -EFAULT;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2950
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2027
diff changeset
  2951
    if (ec_mutex_lock_interruptible(&master->master_mutex))
1352
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2952
        return -EINTR;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2953
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2954
    if (!(sc = ec_master_get_config(master, data.config_index))) {
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2027
diff changeset
  2955
        ec_mutex_unlock(&master->master_mutex);
1352
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2956
        return -ENOENT;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2957
    }
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2958
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2959
    if (!(req = ec_slave_config_find_sdo_request(sc, data.request_index))) {
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2027
diff changeset
  2960
        ec_mutex_unlock(&master->master_mutex);
1352
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2961
        return -ENOENT;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2962
    }
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2963
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2027
diff changeset
  2964
    ec_mutex_unlock(&master->master_mutex);
1352
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2965
1362
2d6e0b01c80a Fixed SDO upload via library.
Florian Pose <fp@igh-essen.com>
parents: 1361
diff changeset
  2966
    if (copy_to_user((void __user *) data.data, ecrt_sdo_request_data(req),
2d6e0b01c80a Fixed SDO upload via library.
Florian Pose <fp@igh-essen.com>
parents: 1361
diff changeset
  2967
                ecrt_sdo_request_data_size(req)))
2d6e0b01c80a Fixed SDO upload via library.
Florian Pose <fp@igh-essen.com>
parents: 1361
diff changeset
  2968
        return -EFAULT;
2d6e0b01c80a Fixed SDO upload via library.
Florian Pose <fp@igh-essen.com>
parents: 1361
diff changeset
  2969
1352
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2970
    return 0;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2971
}
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2972
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2973
/*****************************************************************************/
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  2974
1264
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2975
/** Sets the VoE send header.
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2976
 */
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2977
int ec_cdev_ioctl_voe_send_header(
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2978
        ec_master_t *master, /**< EtherCAT master. */
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2979
        unsigned long arg, /**< ioctl() argument. */
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2980
        ec_cdev_priv_t *priv /**< Private data structure of file handle. */
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2981
        )
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2982
{
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2983
    ec_ioctl_voe_t data;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2984
    ec_slave_config_t *sc;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2985
    ec_voe_handler_t *voe;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2986
    uint32_t vendor_id;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2987
    uint16_t vendor_type;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2988
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  2989
    if (unlikely(!priv->requested))
1264
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2990
        return -EPERM;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2991
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2992
    if (copy_from_user(&data, (void __user *) arg, sizeof(data)))
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2993
        return -EFAULT;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2994
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2995
    if (get_user(vendor_id, data.vendor_id))
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2996
        return -EFAULT;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2997
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2998
    if (get_user(vendor_type, data.vendor_type))
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  2999
        return -EFAULT;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3000
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2027
diff changeset
  3001
    if (ec_mutex_lock_interruptible(&master->master_mutex))
1264
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3002
        return -EINTR;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3003
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3004
    if (!(sc = ec_master_get_config(master, data.config_index))) {
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2027
diff changeset
  3005
        ec_mutex_unlock(&master->master_mutex);
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
  3006
        return -ENOENT;
1264
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3007
    }
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3008
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3009
    if (!(voe = ec_slave_config_find_voe_handler(sc, data.voe_index))) {
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2027
diff changeset
  3010
        ec_mutex_unlock(&master->master_mutex);
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
  3011
        return -ENOENT;
1264
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3012
    }
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3013
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2027
diff changeset
  3014
    ec_mutex_unlock(&master->master_mutex);
1264
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3015
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3016
    ecrt_voe_handler_send_header(voe, vendor_id, vendor_type);
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3017
    return 0;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3018
}
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3019
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3020
/*****************************************************************************/
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3021
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3022
/** Gets the received VoE header.
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3023
 */
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3024
int ec_cdev_ioctl_voe_rec_header(
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3025
        ec_master_t *master, /**< EtherCAT master. */
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3026
        unsigned long arg, /**< ioctl() argument. */
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3027
        ec_cdev_priv_t *priv /**< Private data structure of file handle. */
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3028
        )
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3029
{
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3030
    ec_ioctl_voe_t data;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3031
    ec_slave_config_t *sc;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3032
    ec_voe_handler_t *voe;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3033
    uint32_t vendor_id;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3034
    uint16_t vendor_type;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3035
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  3036
    if (unlikely(!priv->requested))
1264
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3037
        return -EPERM;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3038
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3039
    if (copy_from_user(&data, (void __user *) arg, sizeof(data)))
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3040
        return -EFAULT;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3041
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2027
diff changeset
  3042
    if (ec_mutex_lock_interruptible(&master->master_mutex))
1264
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3043
        return -EINTR;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3044
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3045
    if (!(sc = ec_master_get_config(master, data.config_index))) {
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2027
diff changeset
  3046
        ec_mutex_unlock(&master->master_mutex);
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
  3047
        return -ENOENT;
1264
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3048
    }
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3049
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3050
    if (!(voe = ec_slave_config_find_voe_handler(sc, data.voe_index))) {
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2027
diff changeset
  3051
        ec_mutex_unlock(&master->master_mutex);
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
  3052
        return -ENOENT;
1264
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3053
    }
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3054
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3055
    ecrt_voe_handler_received_header(voe, &vendor_id, &vendor_type);
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3056
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2027
diff changeset
  3057
    ec_mutex_unlock(&master->master_mutex);
1264
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3058
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3059
    if (likely(data.vendor_id))
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3060
        if (put_user(vendor_id, data.vendor_id))
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3061
            return -EFAULT;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3062
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3063
    if (likely(data.vendor_type))
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3064
        if (put_user(vendor_type, data.vendor_type))
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3065
            return -EFAULT;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3066
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3067
    return 0;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3068
}
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3069
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3070
/*****************************************************************************/
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3071
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3072
/** Starts a VoE read operation.
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3073
 */
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3074
int ec_cdev_ioctl_voe_read(
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3075
        ec_master_t *master, /**< EtherCAT master. */
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3076
        unsigned long arg, /**< ioctl() argument. */
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3077
        ec_cdev_priv_t *priv /**< Private data structure of file handle. */
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3078
        )
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3079
{
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3080
    ec_ioctl_voe_t data;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3081
    ec_slave_config_t *sc;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3082
    ec_voe_handler_t *voe;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3083
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  3084
    if (unlikely(!priv->requested))
1264
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3085
        return -EPERM;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3086
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3087
    if (copy_from_user(&data, (void __user *) arg, sizeof(data)))
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3088
        return -EFAULT;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3089
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2027
diff changeset
  3090
    if (ec_mutex_lock_interruptible(&master->master_mutex))
1264
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3091
        return -EINTR;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3092
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3093
    if (!(sc = ec_master_get_config(master, data.config_index))) {
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2027
diff changeset
  3094
        ec_mutex_unlock(&master->master_mutex);
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
  3095
        return -ENOENT;
1264
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3096
    }
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3097
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3098
    if (!(voe = ec_slave_config_find_voe_handler(sc, data.voe_index))) {
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2027
diff changeset
  3099
        ec_mutex_unlock(&master->master_mutex);
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
  3100
        return -ENOENT;
1264
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3101
    }
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3102
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2027
diff changeset
  3103
    ec_mutex_unlock(&master->master_mutex);
1264
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3104
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3105
    ecrt_voe_handler_read(voe);
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3106
    return 0;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3107
}
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3108
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3109
/*****************************************************************************/
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3110
1314
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
  3111
/** Starts a VoE read operation without sending a sync message first.
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
  3112
 */
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
  3113
int ec_cdev_ioctl_voe_read_nosync(
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
  3114
        ec_master_t *master, /**< EtherCAT master. */
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
  3115
        unsigned long arg, /**< ioctl() argument. */
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
  3116
        ec_cdev_priv_t *priv /**< Private data structure of file handle. */
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
  3117
        )
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
  3118
{
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
  3119
    ec_ioctl_voe_t data;
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
  3120
    ec_slave_config_t *sc;
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
  3121
    ec_voe_handler_t *voe;
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
  3122
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  3123
    if (unlikely(!priv->requested))
1314
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
  3124
        return -EPERM;
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
  3125
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
  3126
    if (copy_from_user(&data, (void __user *) arg, sizeof(data)))
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
  3127
        return -EFAULT;
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
  3128
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2027
diff changeset
  3129
    if (ec_mutex_lock_interruptible(&master->master_mutex))
1314
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
  3130
        return -EINTR;
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
  3131
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
  3132
    if (!(sc = ec_master_get_config(master, data.config_index))) {
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2027
diff changeset
  3133
        ec_mutex_unlock(&master->master_mutex);
1314
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
  3134
        return -ENOENT;
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
  3135
    }
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
  3136
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
  3137
    if (!(voe = ec_slave_config_find_voe_handler(sc, data.voe_index))) {
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2027
diff changeset
  3138
        ec_mutex_unlock(&master->master_mutex);
1314
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
  3139
        return -ENOENT;
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
  3140
    }
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
  3141
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2027
diff changeset
  3142
    ec_mutex_unlock(&master->master_mutex);
1314
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
  3143
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
  3144
    ecrt_voe_handler_read_nosync(voe);
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
  3145
    return 0;
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
  3146
}
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
  3147
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
  3148
/*****************************************************************************/
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
  3149
1264
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3150
/** Starts a VoE write operation.
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3151
 */
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3152
int ec_cdev_ioctl_voe_write(
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3153
        ec_master_t *master, /**< EtherCAT master. */
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3154
        unsigned long arg, /**< ioctl() argument. */
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3155
        ec_cdev_priv_t *priv /**< Private data structure of file handle. */
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3156
        )
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3157
{
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3158
    ec_ioctl_voe_t data;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3159
    ec_slave_config_t *sc;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3160
    ec_voe_handler_t *voe;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3161
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  3162
    if (unlikely(!priv->requested))
1264
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3163
        return -EPERM;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3164
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3165
    if (copy_from_user(&data, (void __user *) arg, sizeof(data)))
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3166
        return -EFAULT;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3167
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2027
diff changeset
  3168
    if (ec_mutex_lock_interruptible(&master->master_mutex))
1264
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3169
        return -EINTR;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3170
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3171
    if (!(sc = ec_master_get_config(master, data.config_index))) {
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2027
diff changeset
  3172
        ec_mutex_unlock(&master->master_mutex);
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
  3173
        return -ENOENT;
1264
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3174
    }
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3175
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3176
    if (!(voe = ec_slave_config_find_voe_handler(sc, data.voe_index))) {
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2027
diff changeset
  3177
        ec_mutex_unlock(&master->master_mutex);
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
  3178
        return -ENOENT;
1264
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3179
    }
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3180
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2027
diff changeset
  3181
    ec_mutex_unlock(&master->master_mutex);
1264
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3182
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3183
    if (data.size) {
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3184
        if (data.size > ec_voe_handler_mem_size(voe))
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3185
            return -EOVERFLOW;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3186
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3187
        if (copy_from_user(ecrt_voe_handler_data(voe),
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3188
                    (void __user *) data.data, data.size))
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3189
            return -EFAULT;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3190
    }
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3191
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3192
    ecrt_voe_handler_write(voe, data.size);
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3193
    return 0;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3194
}
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3195
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3196
/*****************************************************************************/
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3197
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3198
/** Executes the VoE state machine.
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3199
 */
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3200
int ec_cdev_ioctl_voe_exec(
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3201
        ec_master_t *master, /**< EtherCAT master. */
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3202
        unsigned long arg, /**< ioctl() argument. */
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3203
        ec_cdev_priv_t *priv /**< Private data structure of file handle. */
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3204
        )
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3205
{
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3206
    ec_ioctl_voe_t data;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3207
    ec_slave_config_t *sc;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3208
    ec_voe_handler_t *voe;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3209
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  3210
    if (unlikely(!priv->requested))
1264
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3211
        return -EPERM;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3212
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3213
    if (copy_from_user(&data, (void __user *) arg, sizeof(data)))
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3214
        return -EFAULT;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3215
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2027
diff changeset
  3216
    if (ec_mutex_lock_interruptible(&master->master_mutex))
1264
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3217
        return -EINTR;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3218
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3219
    if (!(sc = ec_master_get_config(master, data.config_index))) {
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2027
diff changeset
  3220
        ec_mutex_unlock(&master->master_mutex);
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
  3221
        return -ENOENT;
1264
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3222
    }
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3223
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3224
    if (!(voe = ec_slave_config_find_voe_handler(sc, data.voe_index))) {
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2027
diff changeset
  3225
        ec_mutex_unlock(&master->master_mutex);
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
  3226
        return -ENOENT;
1264
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3227
    }
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3228
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2027
diff changeset
  3229
    ec_mutex_unlock(&master->master_mutex);
1264
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3230
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3231
    data.state = ecrt_voe_handler_execute(voe);
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3232
    if (data.state == EC_REQUEST_SUCCESS && voe->dir == EC_DIR_INPUT)
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3233
        data.size = ecrt_voe_handler_data_size(voe);
1350
cd278db5a872 Minor fix in VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1349
diff changeset
  3234
    else
cd278db5a872 Minor fix in VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 1349
diff changeset
  3235
        data.size = 0;
1264
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3236
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3237
    if (copy_to_user((void __user *) arg, &data, sizeof(data)))
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3238
        return -EFAULT;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3239
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3240
    return 0;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3241
}
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3242
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3243
/*****************************************************************************/
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3244
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3245
/** Reads the received VoE data.
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3246
 */
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3247
int ec_cdev_ioctl_voe_data(
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3248
        ec_master_t *master, /**< EtherCAT master. */
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3249
        unsigned long arg, /**< ioctl() argument. */
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3250
        ec_cdev_priv_t *priv /**< Private data structure of file handle. */
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3251
        )
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3252
{
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3253
    ec_ioctl_voe_t data;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3254
    ec_slave_config_t *sc;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3255
    ec_voe_handler_t *voe;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3256
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  3257
    if (unlikely(!priv->requested))
1264
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3258
        return -EPERM;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3259
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3260
    if (copy_from_user(&data, (void __user *) arg, sizeof(data)))
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3261
        return -EFAULT;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3262
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2027
diff changeset
  3263
    if (ec_mutex_lock_interruptible(&master->master_mutex))
1264
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3264
        return -EINTR;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3265
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3266
    if (!(sc = ec_master_get_config(master, data.config_index))) {
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2027
diff changeset
  3267
        ec_mutex_unlock(&master->master_mutex);
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
  3268
        return -ENOENT;
1264
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3269
    }
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3270
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3271
    if (!(voe = ec_slave_config_find_voe_handler(sc, data.voe_index))) {
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2027
diff changeset
  3272
        ec_mutex_unlock(&master->master_mutex);
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
  3273
        return -ENOENT;
1264
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3274
    }
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3275
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2027
diff changeset
  3276
    ec_mutex_unlock(&master->master_mutex);
1264
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3277
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3278
    if (copy_to_user((void __user *) data.data, ecrt_voe_handler_data(voe),
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3279
                ecrt_voe_handler_data_size(voe)))
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3280
        return -EFAULT;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3281
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3282
    return 0;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3283
}
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3284
1335
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  3285
/*****************************************************************************/
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  3286
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  3287
/** Read a file from a slave via FoE.
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  3288
 */
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  3289
int ec_cdev_ioctl_slave_foe_read(
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  3290
        ec_master_t *master, /**< EtherCAT master. */
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  3291
        unsigned long arg /**< ioctl() argument. */
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  3292
        )
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  3293
{
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  3294
    ec_ioctl_slave_foe_t data;
2029
5ef6507fc77a FoE wait_event() deadlock fixed: refcount ec_master_foe_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2028
diff changeset
  3295
    ec_master_foe_request_t* request;
1335
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  3296
    int retval;
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  3297
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  3298
    if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  3299
        return -EFAULT;
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  3300
    }
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  3301
2029
5ef6507fc77a FoE wait_event() deadlock fixed: refcount ec_master_foe_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2028
diff changeset
  3302
    request = kmalloc(sizeof(*request), GFP_KERNEL);
5ef6507fc77a FoE wait_event() deadlock fixed: refcount ec_master_foe_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2028
diff changeset
  3303
    if (!request)
5ef6507fc77a FoE wait_event() deadlock fixed: refcount ec_master_foe_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2028
diff changeset
  3304
        return -ENOMEM;
5ef6507fc77a FoE wait_event() deadlock fixed: refcount ec_master_foe_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2028
diff changeset
  3305
    kref_init(&request->refcount);
5ef6507fc77a FoE wait_event() deadlock fixed: refcount ec_master_foe_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2028
diff changeset
  3306
5ef6507fc77a FoE wait_event() deadlock fixed: refcount ec_master_foe_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2028
diff changeset
  3307
    ec_foe_request_init(&request->req, data.file_name);
5ef6507fc77a FoE wait_event() deadlock fixed: refcount ec_master_foe_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2028
diff changeset
  3308
    ec_foe_request_read(&request->req);
5ef6507fc77a FoE wait_event() deadlock fixed: refcount ec_master_foe_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2028
diff changeset
  3309
    ec_foe_request_alloc(&request->req, 10000); // FIXME
5ef6507fc77a FoE wait_event() deadlock fixed: refcount ec_master_foe_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2028
diff changeset
  3310
5ef6507fc77a FoE wait_event() deadlock fixed: refcount ec_master_foe_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2028
diff changeset
  3311
    if (ec_mutex_lock_interruptible(&master->master_mutex))  {
5ef6507fc77a FoE wait_event() deadlock fixed: refcount ec_master_foe_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2028
diff changeset
  3312
        kref_put(&request->refcount,ec_master_foe_request_release);
5ef6507fc77a FoE wait_event() deadlock fixed: refcount ec_master_foe_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2028
diff changeset
  3313
        return -EINTR;
5ef6507fc77a FoE wait_event() deadlock fixed: refcount ec_master_foe_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2028
diff changeset
  3314
    }
5ef6507fc77a FoE wait_event() deadlock fixed: refcount ec_master_foe_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2028
diff changeset
  3315
    if (!(request->slave = ec_master_find_slave(
1335
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  3316
                    master, 0, data.slave_position))) {
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2027
diff changeset
  3317
        ec_mutex_unlock(&master->master_mutex);
2029
5ef6507fc77a FoE wait_event() deadlock fixed: refcount ec_master_foe_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2028
diff changeset
  3318
        kref_put(&request->refcount,ec_master_foe_request_release);
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
  3319
        EC_MASTER_ERR(master, "Slave %u does not exist!\n",
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
  3320
                data.slave_position);
1335
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  3321
        return -EINVAL;
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  3322
    }
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  3323
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  3324
    // schedule request.
2029
5ef6507fc77a FoE wait_event() deadlock fixed: refcount ec_master_foe_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2028
diff changeset
  3325
    list_add_tail(&request->list, &request->slave->foe_requests);
5ef6507fc77a FoE wait_event() deadlock fixed: refcount ec_master_foe_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2028
diff changeset
  3326
    kref_get(&request->refcount);
5ef6507fc77a FoE wait_event() deadlock fixed: refcount ec_master_foe_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2028
diff changeset
  3327
5ef6507fc77a FoE wait_event() deadlock fixed: refcount ec_master_foe_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2028
diff changeset
  3328
    ec_mutex_unlock(&master->master_mutex);
5ef6507fc77a FoE wait_event() deadlock fixed: refcount ec_master_foe_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2028
diff changeset
  3329
5ef6507fc77a FoE wait_event() deadlock fixed: refcount ec_master_foe_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2028
diff changeset
  3330
    EC_SLAVE_DBG(request->slave, 1, "Scheduled FoE read request %p.\n",request);
1336
e27b37e80a99 merge -c1618 branches/1.4-foe: Improved FoE.
Florian Pose <fp@igh-essen.com>
parents: 1335
diff changeset
  3331
1335
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  3332
    // wait for processing through FSM
2029
5ef6507fc77a FoE wait_event() deadlock fixed: refcount ec_master_foe_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2028
diff changeset
  3333
    if (wait_event_interruptible(request->slave->foe_queue,
5ef6507fc77a FoE wait_event() deadlock fixed: refcount ec_master_foe_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2028
diff changeset
  3334
          ((request->req.state == EC_INT_REQUEST_SUCCESS) || (request->req.state == EC_INT_REQUEST_FAILURE)))) {
1335
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  3335
        // interrupted by signal
2029
5ef6507fc77a FoE wait_event() deadlock fixed: refcount ec_master_foe_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2028
diff changeset
  3336
        kref_put(&request->refcount,ec_master_foe_request_release);
5ef6507fc77a FoE wait_event() deadlock fixed: refcount ec_master_foe_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2028
diff changeset
  3337
        return -EINTR;
5ef6507fc77a FoE wait_event() deadlock fixed: refcount ec_master_foe_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2028
diff changeset
  3338
    }
5ef6507fc77a FoE wait_event() deadlock fixed: refcount ec_master_foe_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2028
diff changeset
  3339
5ef6507fc77a FoE wait_event() deadlock fixed: refcount ec_master_foe_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2028
diff changeset
  3340
    data.result = request->req.result;
5ef6507fc77a FoE wait_event() deadlock fixed: refcount ec_master_foe_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2028
diff changeset
  3341
    data.error_code = request->req.error_code;
5ef6507fc77a FoE wait_event() deadlock fixed: refcount ec_master_foe_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2028
diff changeset
  3342
5ef6507fc77a FoE wait_event() deadlock fixed: refcount ec_master_foe_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2028
diff changeset
  3343
    EC_SLAVE_DBG(request->slave, 1, "Read %zd bytes via FoE"
5ef6507fc77a FoE wait_event() deadlock fixed: refcount ec_master_foe_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2028
diff changeset
  3344
            " (result = 0x%x).\n", request->req.data_size, request->req.result);
5ef6507fc77a FoE wait_event() deadlock fixed: refcount ec_master_foe_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2028
diff changeset
  3345
5ef6507fc77a FoE wait_event() deadlock fixed: refcount ec_master_foe_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2028
diff changeset
  3346
    if (request->req.state != EC_INT_REQUEST_SUCCESS) {
1335
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  3347
        data.data_size = 0;
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  3348
        retval = -EIO;
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  3349
    } else {
2029
5ef6507fc77a FoE wait_event() deadlock fixed: refcount ec_master_foe_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2028
diff changeset
  3350
        if (request->req.data_size > data.buffer_size) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
  3351
            EC_MASTER_ERR(master, "Buffer too small.\n");
2029
5ef6507fc77a FoE wait_event() deadlock fixed: refcount ec_master_foe_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2028
diff changeset
  3352
            kref_put(&request->refcount,ec_master_foe_request_release);
1335
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  3353
            return -EOVERFLOW;
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  3354
        }
2029
5ef6507fc77a FoE wait_event() deadlock fixed: refcount ec_master_foe_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2028
diff changeset
  3355
        data.data_size = request->req.data_size;
1335
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  3356
        if (copy_to_user((void __user *) data.buffer,
2029
5ef6507fc77a FoE wait_event() deadlock fixed: refcount ec_master_foe_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2028
diff changeset
  3357
                    request->req.buffer, data.data_size)) {
5ef6507fc77a FoE wait_event() deadlock fixed: refcount ec_master_foe_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2028
diff changeset
  3358
            kref_put(&request->refcount,ec_master_foe_request_release);
1335
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  3359
            return -EFAULT;
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  3360
        }
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  3361
        retval = 0;
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  3362
    }
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  3363
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  3364
    if (__copy_to_user((void __user *) arg, &data, sizeof(data))) {
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  3365
        retval = -EFAULT;
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  3366
    }
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  3367
2029
5ef6507fc77a FoE wait_event() deadlock fixed: refcount ec_master_foe_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2028
diff changeset
  3368
    EC_SLAVE_DBG(request->slave, 1, "Finished FoE read request %p.\n",request);
5ef6507fc77a FoE wait_event() deadlock fixed: refcount ec_master_foe_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2028
diff changeset
  3369
    kref_put(&request->refcount,ec_master_foe_request_release);
1336
e27b37e80a99 merge -c1618 branches/1.4-foe: Improved FoE.
Florian Pose <fp@igh-essen.com>
parents: 1335
diff changeset
  3370
1335
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  3371
    return retval;
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  3372
}
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  3373
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  3374
/*****************************************************************************/
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  3375
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  3376
/** Write a file to a slave via FoE
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  3377
 */
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  3378
int ec_cdev_ioctl_slave_foe_write(
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  3379
        ec_master_t *master, /**< EtherCAT master. */
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  3380
        unsigned long arg /**< ioctl() argument. */
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  3381
        )
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  3382
{
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  3383
    ec_ioctl_slave_foe_t data;
2029
5ef6507fc77a FoE wait_event() deadlock fixed: refcount ec_master_foe_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2028
diff changeset
  3384
    ec_master_foe_request_t* request;
1335
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  3385
    int retval;
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  3386
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  3387
    if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  3388
        return -EFAULT;
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  3389
    }
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  3390
2029
5ef6507fc77a FoE wait_event() deadlock fixed: refcount ec_master_foe_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2028
diff changeset
  3391
    request = kmalloc(sizeof(*request), GFP_KERNEL);
5ef6507fc77a FoE wait_event() deadlock fixed: refcount ec_master_foe_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2028
diff changeset
  3392
    if (!request)
1335
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  3393
        return -ENOMEM;
2029
5ef6507fc77a FoE wait_event() deadlock fixed: refcount ec_master_foe_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2028
diff changeset
  3394
    kref_init(&request->refcount);
5ef6507fc77a FoE wait_event() deadlock fixed: refcount ec_master_foe_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2028
diff changeset
  3395
5ef6507fc77a FoE wait_event() deadlock fixed: refcount ec_master_foe_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2028
diff changeset
  3396
    INIT_LIST_HEAD(&request->list);
5ef6507fc77a FoE wait_event() deadlock fixed: refcount ec_master_foe_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2028
diff changeset
  3397
5ef6507fc77a FoE wait_event() deadlock fixed: refcount ec_master_foe_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2028
diff changeset
  3398
    ec_foe_request_init(&request->req, data.file_name);
5ef6507fc77a FoE wait_event() deadlock fixed: refcount ec_master_foe_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2028
diff changeset
  3399
5ef6507fc77a FoE wait_event() deadlock fixed: refcount ec_master_foe_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2028
diff changeset
  3400
    if (ec_foe_request_alloc(&request->req, data.buffer_size)) {
5ef6507fc77a FoE wait_event() deadlock fixed: refcount ec_master_foe_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2028
diff changeset
  3401
        kref_put(&request->refcount,ec_master_foe_request_release);
5ef6507fc77a FoE wait_event() deadlock fixed: refcount ec_master_foe_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2028
diff changeset
  3402
        return -ENOMEM;
5ef6507fc77a FoE wait_event() deadlock fixed: refcount ec_master_foe_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2028
diff changeset
  3403
    }
5ef6507fc77a FoE wait_event() deadlock fixed: refcount ec_master_foe_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2028
diff changeset
  3404
    if (copy_from_user(request->req.buffer,
1335
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  3405
                (void __user *) data.buffer, data.buffer_size)) {
2029
5ef6507fc77a FoE wait_event() deadlock fixed: refcount ec_master_foe_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2028
diff changeset
  3406
        kref_put(&request->refcount,ec_master_foe_request_release);
5ef6507fc77a FoE wait_event() deadlock fixed: refcount ec_master_foe_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2028
diff changeset
  3407
        return -EFAULT;
5ef6507fc77a FoE wait_event() deadlock fixed: refcount ec_master_foe_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2028
diff changeset
  3408
    }
5ef6507fc77a FoE wait_event() deadlock fixed: refcount ec_master_foe_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2028
diff changeset
  3409
    request->req.data_size = data.buffer_size;
5ef6507fc77a FoE wait_event() deadlock fixed: refcount ec_master_foe_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2028
diff changeset
  3410
    ec_foe_request_write(&request->req);
5ef6507fc77a FoE wait_event() deadlock fixed: refcount ec_master_foe_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2028
diff changeset
  3411
5ef6507fc77a FoE wait_event() deadlock fixed: refcount ec_master_foe_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2028
diff changeset
  3412
    if (ec_mutex_lock_interruptible(&master->master_mutex))
5ef6507fc77a FoE wait_event() deadlock fixed: refcount ec_master_foe_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2028
diff changeset
  3413
        return -EINTR;
5ef6507fc77a FoE wait_event() deadlock fixed: refcount ec_master_foe_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2028
diff changeset
  3414
5ef6507fc77a FoE wait_event() deadlock fixed: refcount ec_master_foe_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2028
diff changeset
  3415
    if (!(request->slave = ec_master_find_slave(
1335
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  3416
                    master, 0, data.slave_position))) {
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2027
diff changeset
  3417
        ec_mutex_unlock(&master->master_mutex);
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
  3418
        EC_MASTER_ERR(master, "Slave %u does not exist!\n",
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
  3419
                data.slave_position);
2029
5ef6507fc77a FoE wait_event() deadlock fixed: refcount ec_master_foe_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2028
diff changeset
  3420
        kref_put(&request->refcount,ec_master_foe_request_release);
5ef6507fc77a FoE wait_event() deadlock fixed: refcount ec_master_foe_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2028
diff changeset
  3421
        return -EINVAL;
5ef6507fc77a FoE wait_event() deadlock fixed: refcount ec_master_foe_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2028
diff changeset
  3422
    }
5ef6507fc77a FoE wait_event() deadlock fixed: refcount ec_master_foe_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2028
diff changeset
  3423
5ef6507fc77a FoE wait_event() deadlock fixed: refcount ec_master_foe_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2028
diff changeset
  3424
    EC_SLAVE_DBG(request->slave, 1, "Scheduling FoE write request %p.\n",request);
1335
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  3425
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  3426
    // schedule FoE write request.
2029
5ef6507fc77a FoE wait_event() deadlock fixed: refcount ec_master_foe_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2028
diff changeset
  3427
    list_add_tail(&request->list, &request->slave->foe_requests);
5ef6507fc77a FoE wait_event() deadlock fixed: refcount ec_master_foe_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2028
diff changeset
  3428
    kref_get(&request->refcount);
1335
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  3429
2028
55854f070c4a use rt_mutex instead of semaphore for mutual exclusion (use --enable-mutex)
Martin Troxler <ch1010277@ch10pc446>
parents: 2027
diff changeset
  3430
    ec_mutex_unlock(&master->master_mutex);
1335
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  3431
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  3432
    // wait for processing through FSM
2029
5ef6507fc77a FoE wait_event() deadlock fixed: refcount ec_master_foe_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2028
diff changeset
  3433
    if (wait_event_interruptible(request->slave->foe_queue,
5ef6507fc77a FoE wait_event() deadlock fixed: refcount ec_master_foe_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2028
diff changeset
  3434
       ((request->req.state == EC_INT_REQUEST_SUCCESS) || (request->req.state == EC_INT_REQUEST_FAILURE)))) {
1335
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  3435
        // interrupted by signal
2029
5ef6507fc77a FoE wait_event() deadlock fixed: refcount ec_master_foe_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2028
diff changeset
  3436
        kref_put(&request->refcount,ec_master_foe_request_release);
5ef6507fc77a FoE wait_event() deadlock fixed: refcount ec_master_foe_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2028
diff changeset
  3437
        return -EINTR;
5ef6507fc77a FoE wait_event() deadlock fixed: refcount ec_master_foe_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2028
diff changeset
  3438
    }
5ef6507fc77a FoE wait_event() deadlock fixed: refcount ec_master_foe_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2028
diff changeset
  3439
5ef6507fc77a FoE wait_event() deadlock fixed: refcount ec_master_foe_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2028
diff changeset
  3440
    data.result = request->req.result;
5ef6507fc77a FoE wait_event() deadlock fixed: refcount ec_master_foe_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2028
diff changeset
  3441
    data.error_code = request->req.error_code;
5ef6507fc77a FoE wait_event() deadlock fixed: refcount ec_master_foe_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2028
diff changeset
  3442
5ef6507fc77a FoE wait_event() deadlock fixed: refcount ec_master_foe_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2028
diff changeset
  3443
    retval = request->req.state == EC_INT_REQUEST_SUCCESS ? 0 : -EIO;
1335
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  3444
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  3445
    if (__copy_to_user((void __user *) arg, &data, sizeof(data))) {
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  3446
        retval = -EFAULT;
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  3447
    }
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  3448
2029
5ef6507fc77a FoE wait_event() deadlock fixed: refcount ec_master_foe_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2028
diff changeset
  3449
    EC_SLAVE_DBG(request->slave, 1, "Finished FoE write request %p.\n",request);
5ef6507fc77a FoE wait_event() deadlock fixed: refcount ec_master_foe_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents: 2028
diff changeset
  3450
    kref_put(&request->refcount,ec_master_foe_request_release);
1831
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1826
diff changeset
  3451
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1826
diff changeset
  3452
    return retval;
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1826
diff changeset
  3453
}
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1826
diff changeset
  3454
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1826
diff changeset
  3455
/*****************************************************************************/
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1826
diff changeset
  3456
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1826
diff changeset
  3457
/** Read an SoE IDN.
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1826
diff changeset
  3458
 */
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1826
diff changeset
  3459
int ec_cdev_ioctl_slave_soe_read(
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1826
diff changeset
  3460
        ec_master_t *master, /**< EtherCAT master. */
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1826
diff changeset
  3461
        unsigned long arg /**< ioctl() argument. */
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1826
diff changeset
  3462
        )
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1826
diff changeset
  3463
{
1837
32136215c1fa Implemented SoE write state machine and soe_write command.
Florian Pose <fp@igh-essen.com>
parents: 1831
diff changeset
  3464
    ec_ioctl_slave_soe_read_t ioctl;
1947
024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1945
diff changeset
  3465
    u8 *data;
1831
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1826
diff changeset
  3466
    int retval;
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1826
diff changeset
  3467
1837
32136215c1fa Implemented SoE write state machine and soe_write command.
Florian Pose <fp@igh-essen.com>
parents: 1831
diff changeset
  3468
    if (copy_from_user(&ioctl, (void __user *) arg, sizeof(ioctl))) {
1831
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1826
diff changeset
  3469
        return -EFAULT;
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1826
diff changeset
  3470
    }
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1826
diff changeset
  3471
1947
024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1945
diff changeset
  3472
    data = kmalloc(ioctl.mem_size, GFP_KERNEL);
024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1945
diff changeset
  3473
    if (!data) {
024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1945
diff changeset
  3474
        EC_MASTER_ERR(master, "Failed to allocate %u bytes of IDN data.\n",
024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1945
diff changeset
  3475
                ioctl.mem_size);
024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1945
diff changeset
  3476
        return -ENOMEM;
024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1945
diff changeset
  3477
    }
024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1945
diff changeset
  3478
024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1945
diff changeset
  3479
    retval = ecrt_master_read_idn(master, ioctl.slave_position,
1952
7d9fb723fc4b Added drive_no parameter to SoE layer.
Florian Pose <fp@igh-essen.com>
parents: 1948
diff changeset
  3480
            ioctl.drive_no, ioctl.idn, data, ioctl.mem_size, &ioctl.data_size,
1947
024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1945
diff changeset
  3481
            &ioctl.error_code);
024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1945
diff changeset
  3482
    if (retval) {
024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1945
diff changeset
  3483
        kfree(data);
024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1945
diff changeset
  3484
        return retval;
024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1945
diff changeset
  3485
    }
024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1945
diff changeset
  3486
024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1945
diff changeset
  3487
    if (copy_to_user((void __user *) ioctl.data,
024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1945
diff changeset
  3488
                data, ioctl.data_size)) {
024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1945
diff changeset
  3489
        kfree(data);
024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1945
diff changeset
  3490
        return -EFAULT;
024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1945
diff changeset
  3491
    }
024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1945
diff changeset
  3492
    kfree(data);
1831
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1826
diff changeset
  3493
1837
32136215c1fa Implemented SoE write state machine and soe_write command.
Florian Pose <fp@igh-essen.com>
parents: 1831
diff changeset
  3494
    if (__copy_to_user((void __user *) arg, &ioctl, sizeof(ioctl))) {
1831
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1826
diff changeset
  3495
        retval = -EFAULT;
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1826
diff changeset
  3496
    }
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1826
diff changeset
  3497
1947
024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1945
diff changeset
  3498
    EC_MASTER_DBG(master, 1, "Finished SoE read request.\n");
1831
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1826
diff changeset
  3499
    return retval;
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1826
diff changeset
  3500
}
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1826
diff changeset
  3501
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1826
diff changeset
  3502
/*****************************************************************************/
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1826
diff changeset
  3503
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1826
diff changeset
  3504
/** Write an IDN to a slave via SoE.
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1826
diff changeset
  3505
 */
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1826
diff changeset
  3506
int ec_cdev_ioctl_slave_soe_write(
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1826
diff changeset
  3507
        ec_master_t *master, /**< EtherCAT master. */
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1826
diff changeset
  3508
        unsigned long arg /**< ioctl() argument. */
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1826
diff changeset
  3509
        )
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1826
diff changeset
  3510
{
1837
32136215c1fa Implemented SoE write state machine and soe_write command.
Florian Pose <fp@igh-essen.com>
parents: 1831
diff changeset
  3511
    ec_ioctl_slave_soe_write_t ioctl;
1947
024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1945
diff changeset
  3512
    u8 *data;
1831
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1826
diff changeset
  3513
    int retval;
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1826
diff changeset
  3514
1837
32136215c1fa Implemented SoE write state machine and soe_write command.
Florian Pose <fp@igh-essen.com>
parents: 1831
diff changeset
  3515
    if (copy_from_user(&ioctl, (void __user *) arg, sizeof(ioctl))) {
1831
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1826
diff changeset
  3516
        return -EFAULT;
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1826
diff changeset
  3517
    }
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1826
diff changeset
  3518
1947
024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1945
diff changeset
  3519
    data = kmalloc(ioctl.data_size, GFP_KERNEL);
024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1945
diff changeset
  3520
    if (!data) {
1972
c1b564299829 Minor 64bit improvements.
Florian Pose <fp@igh-essen.com>
parents: 1966
diff changeset
  3521
        EC_MASTER_ERR(master, "Failed to allocate %zu bytes of IDN data.\n",
1947
024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1945
diff changeset
  3522
                ioctl.data_size);
1831
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1826
diff changeset
  3523
        return -ENOMEM;
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1826
diff changeset
  3524
    }
1947
024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1945
diff changeset
  3525
    if (copy_from_user(data, (void __user *) ioctl.data, ioctl.data_size)) {
024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1945
diff changeset
  3526
        kfree(data);
024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1945
diff changeset
  3527
        return -EFAULT;
024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1945
diff changeset
  3528
    }
024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1945
diff changeset
  3529
024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1945
diff changeset
  3530
    retval = ecrt_master_write_idn(master, ioctl.slave_position,
1952
7d9fb723fc4b Added drive_no parameter to SoE layer.
Florian Pose <fp@igh-essen.com>
parents: 1948
diff changeset
  3531
            ioctl.drive_no, ioctl.idn, data, ioctl.data_size,
7d9fb723fc4b Added drive_no parameter to SoE layer.
Florian Pose <fp@igh-essen.com>
parents: 1948
diff changeset
  3532
            &ioctl.error_code);
1947
024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1945
diff changeset
  3533
    kfree(data);
024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1945
diff changeset
  3534
    if (retval) {
024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1945
diff changeset
  3535
        return retval;
024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1945
diff changeset
  3536
    }
1831
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1826
diff changeset
  3537
1837
32136215c1fa Implemented SoE write state machine and soe_write command.
Florian Pose <fp@igh-essen.com>
parents: 1831
diff changeset
  3538
    if (__copy_to_user((void __user *) arg, &ioctl, sizeof(ioctl))) {
1831
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1826
diff changeset
  3539
        retval = -EFAULT;
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1826
diff changeset
  3540
    }
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1826
diff changeset
  3541
1947
024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space.
Florian Pose <fp@igh-essen.com>
parents: 1945
diff changeset
  3542
    EC_MASTER_DBG(master, 1, "Finished SoE write request.\n");
1335
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  3543
    return retval;
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  3544
}
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  3545
922
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3546
/******************************************************************************
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3547
 * File operations
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3548
 *****************************************************************************/
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3549
1092
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1082
diff changeset
  3550
/** Called when the cdev is opened.
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1082
diff changeset
  3551
 */
922
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3552
int eccdev_open(struct inode *inode, struct file *filp)
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3553
{
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3554
    ec_cdev_t *cdev = container_of(inode->i_cdev, ec_cdev_t, cdev);
1242
632a6b91f8e4 First version of userspace library with requesting/releasing.
Florian Pose <fp@igh-essen.com>
parents: 1223
diff changeset
  3555
    ec_cdev_priv_t *priv;
632a6b91f8e4 First version of userspace library with requesting/releasing.
Florian Pose <fp@igh-essen.com>
parents: 1223
diff changeset
  3556
632a6b91f8e4 First version of userspace library with requesting/releasing.
Florian Pose <fp@igh-essen.com>
parents: 1223
diff changeset
  3557
    priv = kmalloc(sizeof(ec_cdev_priv_t), GFP_KERNEL);
632a6b91f8e4 First version of userspace library with requesting/releasing.
Florian Pose <fp@igh-essen.com>
parents: 1223
diff changeset
  3558
    if (!priv) {
1922
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  3559
        EC_MASTER_ERR(cdev->master,
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
  3560
                "Failed to allocate memory for private data structure.\n");
1242
632a6b91f8e4 First version of userspace library with requesting/releasing.
Florian Pose <fp@igh-essen.com>
parents: 1223
diff changeset
  3561
        return -ENOMEM;
632a6b91f8e4 First version of userspace library with requesting/releasing.
Florian Pose <fp@igh-essen.com>
parents: 1223
diff changeset
  3562
    }
632a6b91f8e4 First version of userspace library with requesting/releasing.
Florian Pose <fp@igh-essen.com>
parents: 1223
diff changeset
  3563
632a6b91f8e4 First version of userspace library with requesting/releasing.
Florian Pose <fp@igh-essen.com>
parents: 1223
diff changeset
  3564
    priv->cdev = cdev;
632a6b91f8e4 First version of userspace library with requesting/releasing.
Florian Pose <fp@igh-essen.com>
parents: 1223
diff changeset
  3565
    priv->requested = 0;
1258
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3566
    priv->process_data = NULL;
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3567
    priv->process_data_size = 0;
1242
632a6b91f8e4 First version of userspace library with requesting/releasing.
Florian Pose <fp@igh-essen.com>
parents: 1223
diff changeset
  3568
632a6b91f8e4 First version of userspace library with requesting/releasing.
Florian Pose <fp@igh-essen.com>
parents: 1223
diff changeset
  3569
    filp->private_data = priv;
1397
6f9294a445c1 Introduced DEBUG_IOCTL.
Florian Pose <fp@igh-essen.com>
parents: 1388
diff changeset
  3570
6f9294a445c1 Introduced DEBUG_IOCTL.
Florian Pose <fp@igh-essen.com>
parents: 1388
diff changeset
  3571
#if DEBUG_IOCTL
1931
831f2d34664c Fixed format specifiers.
Florian Pose <fp@igh-essen.com>
parents: 1922
diff changeset
  3572
    EC_MASTER_DBG(cdev->master, 0, "File opened.\n");
1397
6f9294a445c1 Introduced DEBUG_IOCTL.
Florian Pose <fp@igh-essen.com>
parents: 1388
diff changeset
  3573
#endif
922
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3574
    return 0;
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3575
}
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3576
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3577
/*****************************************************************************/
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3578
1092
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1082
diff changeset
  3579
/** Called when the cdev is closed.
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1082
diff changeset
  3580
 */
922
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3581
int eccdev_release(struct inode *inode, struct file *filp)
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3582
{
1242
632a6b91f8e4 First version of userspace library with requesting/releasing.
Florian Pose <fp@igh-essen.com>
parents: 1223
diff changeset
  3583
    ec_cdev_priv_t *priv = (ec_cdev_priv_t *) filp->private_data;
632a6b91f8e4 First version of userspace library with requesting/releasing.
Florian Pose <fp@igh-essen.com>
parents: 1223
diff changeset
  3584
    ec_master_t *master = priv->cdev->master;
632a6b91f8e4 First version of userspace library with requesting/releasing.
Florian Pose <fp@igh-essen.com>
parents: 1223
diff changeset
  3585
632a6b91f8e4 First version of userspace library with requesting/releasing.
Florian Pose <fp@igh-essen.com>
parents: 1223
diff changeset
  3586
    if (priv->requested)
632a6b91f8e4 First version of userspace library with requesting/releasing.
Florian Pose <fp@igh-essen.com>
parents: 1223
diff changeset
  3587
        ecrt_release_master(master);
935
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
  3588
1258
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3589
    if (priv->process_data)
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3590
        vfree(priv->process_data);
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3591
1397
6f9294a445c1 Introduced DEBUG_IOCTL.
Florian Pose <fp@igh-essen.com>
parents: 1388
diff changeset
  3592
#if DEBUG_IOCTL
1931
831f2d34664c Fixed format specifiers.
Florian Pose <fp@igh-essen.com>
parents: 1922
diff changeset
  3593
    EC_MASTER_DBG(master, 0, "File closed.\n");
1397
6f9294a445c1 Introduced DEBUG_IOCTL.
Florian Pose <fp@igh-essen.com>
parents: 1388
diff changeset
  3594
#endif
6f9294a445c1 Introduced DEBUG_IOCTL.
Florian Pose <fp@igh-essen.com>
parents: 1388
diff changeset
  3595
1242
632a6b91f8e4 First version of userspace library with requesting/releasing.
Florian Pose <fp@igh-essen.com>
parents: 1223
diff changeset
  3596
    kfree(priv);
922
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3597
    return 0;
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3598
}
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3599
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3600
/*****************************************************************************/
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3601
1092
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1082
diff changeset
  3602
/** Called when an ioctl() command is issued.
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1082
diff changeset
  3603
 */
935
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
  3604
long eccdev_ioctl(struct file *filp, unsigned int cmd, unsigned long arg)
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
  3605
{
1242
632a6b91f8e4 First version of userspace library with requesting/releasing.
Florian Pose <fp@igh-essen.com>
parents: 1223
diff changeset
  3606
    ec_cdev_priv_t *priv = (ec_cdev_priv_t *) filp->private_data;
632a6b91f8e4 First version of userspace library with requesting/releasing.
Florian Pose <fp@igh-essen.com>
parents: 1223
diff changeset
  3607
    ec_master_t *master = priv->cdev->master;
922
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3608
1397
6f9294a445c1 Introduced DEBUG_IOCTL.
Florian Pose <fp@igh-essen.com>
parents: 1388
diff changeset
  3609
#if DEBUG_IOCTL
1931
831f2d34664c Fixed format specifiers.
Florian Pose <fp@igh-essen.com>
parents: 1922
diff changeset
  3610
    EC_MASTER_DBG(master, 0, "ioctl(filp = 0x%p, cmd = 0x%08x (0x%02x),"
831f2d34664c Fixed format specifiers.
Florian Pose <fp@igh-essen.com>
parents: 1922
diff changeset
  3611
            " arg = 0x%lx)\n", filp, cmd, _IOC_NR(cmd), arg);
1397
6f9294a445c1 Introduced DEBUG_IOCTL.
Florian Pose <fp@igh-essen.com>
parents: 1388
diff changeset
  3612
#endif
935
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
  3613
922
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3614
    switch (cmd) {
1826
ec6223c3b7ec Multi-master support for command-line tool. The --master option supports
Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
  3615
        case EC_IOCTL_MODULE:
ec6223c3b7ec Multi-master support for command-line tool. The --master option supports
Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
  3616
            return ec_cdev_ioctl_module(arg);
957
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented
Florian Pose <fp@igh-essen.com>
parents: 956
diff changeset
  3617
        case EC_IOCTL_MASTER:
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  3618
            return ec_cdev_ioctl_master(master, arg);
935
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
  3619
        case EC_IOCTL_SLAVE:
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  3620
            return ec_cdev_ioctl_slave(master, arg);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  3621
        case EC_IOCTL_SLAVE_SYNC:
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  3622
            return ec_cdev_ioctl_slave_sync(master, arg);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  3623
        case EC_IOCTL_SLAVE_SYNC_PDO:
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  3624
            return ec_cdev_ioctl_slave_sync_pdo(master, arg);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  3625
        case EC_IOCTL_SLAVE_SYNC_PDO_ENTRY:
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  3626
            return ec_cdev_ioctl_slave_sync_pdo_entry(master, arg);
948
1cfab7161491 Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents: 938
diff changeset
  3627
        case EC_IOCTL_DOMAIN:
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  3628
            return ec_cdev_ioctl_domain(master, arg);
950
8b00e63fff90 'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents: 949
diff changeset
  3629
        case EC_IOCTL_DOMAIN_FMMU:
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  3630
            return ec_cdev_ioctl_domain_fmmu(master, arg);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  3631
        case EC_IOCTL_DOMAIN_DATA:
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  3632
            return ec_cdev_ioctl_domain_data(master, arg);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  3633
        case EC_IOCTL_MASTER_DEBUG:
972
ad59641a68c8 ioctl() permissions.
Florian Pose <fp@igh-essen.com>
parents: 968
diff changeset
  3634
            if (!(filp->f_mode & FMODE_WRITE))
ad59641a68c8 ioctl() permissions.
Florian Pose <fp@igh-essen.com>
parents: 968
diff changeset
  3635
                return -EPERM;
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  3636
            return ec_cdev_ioctl_master_debug(master, arg);
1961
48f536aefc18 Rescan command.
Florian Pose <fp@igh-essen.com>
parents: 1945
diff changeset
  3637
        case EC_IOCTL_MASTER_RESCAN:
48f536aefc18 Rescan command.
Florian Pose <fp@igh-essen.com>
parents: 1945
diff changeset
  3638
            if (!(filp->f_mode & FMODE_WRITE))
48f536aefc18 Rescan command.
Florian Pose <fp@igh-essen.com>
parents: 1945
diff changeset
  3639
                return -EPERM;
48f536aefc18 Rescan command.
Florian Pose <fp@igh-essen.com>
parents: 1945
diff changeset
  3640
            return ec_cdev_ioctl_master_rescan(master, arg);
960
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file.
Florian Pose <fp@igh-essen.com>
parents: 957
diff changeset
  3641
        case EC_IOCTL_SLAVE_STATE:
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  3642
            if (!(filp->f_mode & FMODE_WRITE))
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  3643
                return -EPERM;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  3644
            return ec_cdev_ioctl_slave_state(master, arg);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  3645
        case EC_IOCTL_SLAVE_SDO:
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  3646
            return ec_cdev_ioctl_slave_sdo(master, arg);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  3647
        case EC_IOCTL_SLAVE_SDO_ENTRY:
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  3648
            return ec_cdev_ioctl_slave_sdo_entry(master, arg);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  3649
        case EC_IOCTL_SLAVE_SDO_UPLOAD:
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  3650
            return ec_cdev_ioctl_slave_sdo_upload(master, arg);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  3651
        case EC_IOCTL_SLAVE_SDO_DOWNLOAD:
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  3652
            if (!(filp->f_mode & FMODE_WRITE))
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  3653
                return -EPERM;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  3654
            return ec_cdev_ioctl_slave_sdo_download(master, arg);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  3655
        case EC_IOCTL_SLAVE_SII_READ:
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  3656
            return ec_cdev_ioctl_slave_sii_read(master, arg);
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  3657
        case EC_IOCTL_SLAVE_SII_WRITE:
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  3658
            if (!(filp->f_mode & FMODE_WRITE))
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  3659
                return -EPERM;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  3660
            return ec_cdev_ioctl_slave_sii_write(master, arg);
1388
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents: 1382
diff changeset
  3661
        case EC_IOCTL_SLAVE_REG_READ:
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents: 1382
diff changeset
  3662
            return ec_cdev_ioctl_slave_reg_read(master, arg);
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents: 1382
diff changeset
  3663
        case EC_IOCTL_SLAVE_REG_WRITE:
1200
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  3664
            if (!(filp->f_mode & FMODE_WRITE))
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1196
diff changeset
  3665
                return -EPERM;
1388
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents: 1382
diff changeset
  3666
            return ec_cdev_ioctl_slave_reg_write(master, arg);
1335
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  3667
        case EC_IOCTL_SLAVE_FOE_READ:
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  3668
            return ec_cdev_ioctl_slave_foe_read(master, arg);
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  3669
        case EC_IOCTL_SLAVE_FOE_WRITE:
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  3670
            if (!(filp->f_mode & FMODE_WRITE))
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  3671
                return -EPERM;
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1328
diff changeset
  3672
            return ec_cdev_ioctl_slave_foe_write(master, arg);
1831
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1826
diff changeset
  3673
        case EC_IOCTL_SLAVE_SOE_READ:
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1826
diff changeset
  3674
            return ec_cdev_ioctl_slave_soe_read(master, arg);
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1826
diff changeset
  3675
        case EC_IOCTL_SLAVE_SOE_WRITE:
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1826
diff changeset
  3676
            if (!(filp->f_mode & FMODE_WRITE))
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1826
diff changeset
  3677
                return -EPERM;
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1826
diff changeset
  3678
            return ec_cdev_ioctl_slave_soe_write(master, arg);
990
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
  3679
        case EC_IOCTL_CONFIG:
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  3680
            return ec_cdev_ioctl_config(master, arg);
990
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
  3681
        case EC_IOCTL_CONFIG_PDO:
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  3682
            return ec_cdev_ioctl_config_pdo(master, arg);
990
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
  3683
        case EC_IOCTL_CONFIG_PDO_ENTRY:
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  3684
            return ec_cdev_ioctl_config_pdo_entry(master, arg);
990
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
  3685
        case EC_IOCTL_CONFIG_SDO:
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  3686
            return ec_cdev_ioctl_config_sdo(master, arg);
1966
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents: 1963
diff changeset
  3687
        case EC_IOCTL_CONFIG_IDN:
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents: 1963
diff changeset
  3688
            return ec_cdev_ioctl_config_idn(master, arg);
1516
e3b09f847512 Fixed compiler error on --disable-eoe.
Florian Pose <fp@igh-essen.com>
parents: 1513
diff changeset
  3689
#ifdef EC_EOE
1485
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1465
diff changeset
  3690
        case EC_IOCTL_EOE_HANDLER:
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1465
diff changeset
  3691
            return ec_cdev_ioctl_eoe_handler(master, arg);
1516
e3b09f847512 Fixed compiler error on --disable-eoe.
Florian Pose <fp@igh-essen.com>
parents: 1513
diff changeset
  3692
#endif
1242
632a6b91f8e4 First version of userspace library with requesting/releasing.
Florian Pose <fp@igh-essen.com>
parents: 1223
diff changeset
  3693
        case EC_IOCTL_REQUEST:
632a6b91f8e4 First version of userspace library with requesting/releasing.
Florian Pose <fp@igh-essen.com>
parents: 1223
diff changeset
  3694
            if (!(filp->f_mode & FMODE_WRITE))
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  3695
                return -EPERM;
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  3696
            return ec_cdev_ioctl_request(master, arg, priv);
1244
0b70040d3daa No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents: 1242
diff changeset
  3697
        case EC_IOCTL_CREATE_DOMAIN:
0b70040d3daa No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents: 1242
diff changeset
  3698
            if (!(filp->f_mode & FMODE_WRITE))
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  3699
                return -EPERM;
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  3700
            return ec_cdev_ioctl_create_domain(master, arg, priv);
1246
4042bda8c980 Creating slave configurations.
Florian Pose <fp@igh-essen.com>
parents: 1244
diff changeset
  3701
        case EC_IOCTL_CREATE_SLAVE_CONFIG:
4042bda8c980 Creating slave configurations.
Florian Pose <fp@igh-essen.com>
parents: 1244
diff changeset
  3702
            if (!(filp->f_mode & FMODE_WRITE))
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  3703
                return -EPERM;
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  3704
            return ec_cdev_ioctl_create_slave_config(master, arg, priv);
1247
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  3705
        case EC_IOCTL_ACTIVATE:
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  3706
            if (!(filp->f_mode & FMODE_WRITE))
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  3707
                return -EPERM;
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  3708
            return ec_cdev_ioctl_activate(master, arg, priv);
1531
6c5478400e28 Implemented ecrt_master_deactivate() in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
  3709
        case EC_IOCTL_DEACTIVATE:
6c5478400e28 Implemented ecrt_master_deactivate() in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
  3710
            if (!(filp->f_mode & FMODE_WRITE))
6c5478400e28 Implemented ecrt_master_deactivate() in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
  3711
                return -EPERM;
6c5478400e28 Implemented ecrt_master_deactivate() in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
  3712
            return ec_cdev_ioctl_deactivate(master, arg, priv);
1247
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  3713
        case EC_IOCTL_SEND:
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  3714
            if (!(filp->f_mode & FMODE_WRITE))
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  3715
                return -EPERM;
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  3716
            return ec_cdev_ioctl_send(master, arg, priv);
1247
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  3717
        case EC_IOCTL_RECEIVE:
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
  3718
            if (!(filp->f_mode & FMODE_WRITE))
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  3719
                return -EPERM;
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  3720
            return ec_cdev_ioctl_receive(master, arg, priv);
1259
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  3721
        case EC_IOCTL_MASTER_STATE:
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  3722
            return ec_cdev_ioctl_master_state(master, arg, priv);
1978
d9b6e641eaeb added API ecrt_master_configured_slaves_state
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1862
diff changeset
  3723
        case EC_IOCTL_MASTER_SC_STATE:
d9b6e641eaeb added API ecrt_master_configured_slaves_state
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1862
diff changeset
  3724
            return ec_cdev_ioctl_master_sc_state(master, arg, priv);
1454
b9986feec1a5 Added EC_IOCTL_APP_TIME.
Florian Pose <fp@igh-essen.com>
parents: 1448
diff changeset
  3725
        case EC_IOCTL_APP_TIME:
b9986feec1a5 Added EC_IOCTL_APP_TIME.
Florian Pose <fp@igh-essen.com>
parents: 1448
diff changeset
  3726
            if (!(filp->f_mode & FMODE_WRITE))
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  3727
                return -EPERM;
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  3728
            return ec_cdev_ioctl_app_time(master, arg, priv);
1413
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1401
diff changeset
  3729
        case EC_IOCTL_SYNC_REF:
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1401
diff changeset
  3730
            if (!(filp->f_mode & FMODE_WRITE))
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  3731
                return -EPERM;
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  3732
            return ec_cdev_ioctl_sync_ref(master, arg, priv);
1413
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1401
diff changeset
  3733
        case EC_IOCTL_SYNC_SLAVES:
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1401
diff changeset
  3734
            if (!(filp->f_mode & FMODE_WRITE))
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  3735
                return -EPERM;
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  3736
            return ec_cdev_ioctl_sync_slaves(master, arg, priv);
1535
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1531
diff changeset
  3737
        case EC_IOCTL_SYNC_MON_QUEUE:
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1531
diff changeset
  3738
            if (!(filp->f_mode & FMODE_WRITE))
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1531
diff changeset
  3739
                return -EPERM;
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1531
diff changeset
  3740
            return ec_cdev_ioctl_sync_mon_queue(master, arg, priv);
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1531
diff changeset
  3741
        case EC_IOCTL_SYNC_MON_PROCESS:
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1531
diff changeset
  3742
            if (!(filp->f_mode & FMODE_WRITE))
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1531
diff changeset
  3743
                return -EPERM;
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1531
diff changeset
  3744
            return ec_cdev_ioctl_sync_mon_process(master, arg, priv);
2009
b5391b329b5d Added ecrt_master_reset() method.
Florian Pose <fp@igh-essen.com>
parents: 1972
diff changeset
  3745
        case EC_IOCTL_RESET:
b5391b329b5d Added ecrt_master_reset() method.
Florian Pose <fp@igh-essen.com>
parents: 1972
diff changeset
  3746
            if (!(filp->f_mode & FMODE_WRITE))
b5391b329b5d Added ecrt_master_reset() method.
Florian Pose <fp@igh-essen.com>
parents: 1972
diff changeset
  3747
                return -EPERM;
b5391b329b5d Added ecrt_master_reset() method.
Florian Pose <fp@igh-essen.com>
parents: 1972
diff changeset
  3748
            return ec_cdev_ioctl_reset(master, arg, priv);
1255
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  3749
        case EC_IOCTL_SC_SYNC:
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  3750
            if (!(filp->f_mode & FMODE_WRITE))
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  3751
                return -EPERM;
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  3752
            return ec_cdev_ioctl_sc_sync(master, arg, priv);
1509
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  3753
        case EC_IOCTL_SC_WATCHDOG:
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  3754
            if (!(filp->f_mode & FMODE_WRITE))
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  3755
                return -EPERM;
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  3756
            return ec_cdev_ioctl_sc_watchdog(master, arg, priv);
1981
c14b6bb14fdf Inplace I/O: let input Pdos use the same bus space as Output Pdos
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1980
diff changeset
  3757
        case EC_IOCTL_SC_OVERLAPPING_IO:
c14b6bb14fdf Inplace I/O: let input Pdos use the same bus space as Output Pdos
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1980
diff changeset
  3758
            if (!(filp->f_mode & FMODE_WRITE))
c14b6bb14fdf Inplace I/O: let input Pdos use the same bus space as Output Pdos
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1980
diff changeset
  3759
                return -EPERM;
c14b6bb14fdf Inplace I/O: let input Pdos use the same bus space as Output Pdos
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1980
diff changeset
  3760
            return ec_cdev_ioctl_sc_allow_overlapping_pdos(master,arg,priv);
1255
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  3761
        case EC_IOCTL_SC_ADD_PDO:
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  3762
            if (!(filp->f_mode & FMODE_WRITE))
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  3763
                return -EPERM;
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  3764
            return ec_cdev_ioctl_sc_add_pdo(master, arg, priv);
1255
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  3765
        case EC_IOCTL_SC_CLEAR_PDOS:
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  3766
            if (!(filp->f_mode & FMODE_WRITE))
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  3767
                return -EPERM;
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  3768
            return ec_cdev_ioctl_sc_clear_pdos(master, arg, priv);
1255
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  3769
        case EC_IOCTL_SC_ADD_ENTRY:
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  3770
            if (!(filp->f_mode & FMODE_WRITE))
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  3771
                return -EPERM;
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  3772
            return ec_cdev_ioctl_sc_add_entry(master, arg, priv);
1255
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  3773
        case EC_IOCTL_SC_CLEAR_ENTRIES:
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  3774
            if (!(filp->f_mode & FMODE_WRITE))
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  3775
                return -EPERM;
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  3776
            return ec_cdev_ioctl_sc_clear_entries(master, arg, priv);
1255
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  3777
        case EC_IOCTL_SC_REG_PDO_ENTRY:
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  3778
            if (!(filp->f_mode & FMODE_WRITE))
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  3779
                return -EPERM;
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  3780
            return ec_cdev_ioctl_sc_reg_pdo_entry(master, arg, priv);
1448
d7ba0c408a07 Merged ecrt_slave_config_dc_assign_activate() and
Florian Pose <fp@igh-essen.com>
parents: 1447
diff changeset
  3781
        case EC_IOCTL_SC_DC:
1413
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1401
diff changeset
  3782
            if (!(filp->f_mode & FMODE_WRITE))
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  3783
                return -EPERM;
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  3784
            return ec_cdev_ioctl_sc_dc(master, arg, priv);
1255
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  3785
        case EC_IOCTL_SC_SDO:
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents: 1247
diff changeset
  3786
            if (!(filp->f_mode & FMODE_WRITE))
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  3787
                return -EPERM;
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  3788
            return ec_cdev_ioctl_sc_sdo(master, arg, priv);
1352
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  3789
        case EC_IOCTL_SC_SDO_REQUEST:
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  3790
            if (!(filp->f_mode & FMODE_WRITE))
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  3791
                return -EPERM;
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  3792
            return ec_cdev_ioctl_sc_create_sdo_request(master, arg, priv);
1264
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3793
        case EC_IOCTL_SC_VOE:
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3794
            if (!(filp->f_mode & FMODE_WRITE))
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  3795
                return -EPERM;
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  3796
            return ec_cdev_ioctl_sc_create_voe_handler(master, arg, priv);
1259
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  3797
        case EC_IOCTL_SC_STATE:
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  3798
            return ec_cdev_ioctl_sc_state(master, arg, priv);
1862
05d224a66270 Implemented ecrt_slave_config_idn() for user-space library.
Florian Pose <fp@igh-essen.com>
parents: 1857
diff changeset
  3799
        case EC_IOCTL_SC_IDN:
05d224a66270 Implemented ecrt_slave_config_idn() for user-space library.
Florian Pose <fp@igh-essen.com>
parents: 1857
diff changeset
  3800
            if (!(filp->f_mode & FMODE_WRITE))
05d224a66270 Implemented ecrt_slave_config_idn() for user-space library.
Florian Pose <fp@igh-essen.com>
parents: 1857
diff changeset
  3801
                return -EPERM;
05d224a66270 Implemented ecrt_slave_config_idn() for user-space library.
Florian Pose <fp@igh-essen.com>
parents: 1857
diff changeset
  3802
            return ec_cdev_ioctl_sc_idn(master, arg, priv);
1258
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3803
        case EC_IOCTL_DOMAIN_OFFSET:
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  3804
            return ec_cdev_ioctl_domain_offset(master, arg, priv);
1258
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3805
        case EC_IOCTL_DOMAIN_PROCESS:
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3806
            if (!(filp->f_mode & FMODE_WRITE))
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  3807
                return -EPERM;
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  3808
            return ec_cdev_ioctl_domain_process(master, arg, priv);
1258
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3809
        case EC_IOCTL_DOMAIN_QUEUE:
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3810
            if (!(filp->f_mode & FMODE_WRITE))
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  3811
                return -EPERM;
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  3812
            return ec_cdev_ioctl_domain_queue(master, arg, priv);
1259
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
  3813
        case EC_IOCTL_DOMAIN_STATE:
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  3814
            return ec_cdev_ioctl_domain_state(master, arg, priv);
1352
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  3815
        case EC_IOCTL_SDO_REQUEST_TIMEOUT:
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  3816
            if (!(filp->f_mode & FMODE_WRITE))
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  3817
                return -EPERM;
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  3818
            return ec_cdev_ioctl_sdo_request_timeout(master, arg, priv);
1352
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  3819
        case EC_IOCTL_SDO_REQUEST_STATE:
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  3820
            return ec_cdev_ioctl_sdo_request_state(master, arg, priv);
1352
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  3821
        case EC_IOCTL_SDO_REQUEST_READ:
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  3822
            if (!(filp->f_mode & FMODE_WRITE))
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  3823
                return -EPERM;
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  3824
            return ec_cdev_ioctl_sdo_request_read(master, arg, priv);
1352
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  3825
        case EC_IOCTL_SDO_REQUEST_WRITE:
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  3826
            if (!(filp->f_mode & FMODE_WRITE))
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  3827
                return -EPERM;
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  3828
            return ec_cdev_ioctl_sdo_request_write(master, arg, priv);
1352
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
  3829
        case EC_IOCTL_SDO_REQUEST_DATA:
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  3830
            return ec_cdev_ioctl_sdo_request_data(master, arg, priv);
1264
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3831
        case EC_IOCTL_VOE_SEND_HEADER:
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3832
            if (!(filp->f_mode & FMODE_WRITE))
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  3833
                return -EPERM;
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  3834
            return ec_cdev_ioctl_voe_send_header(master, arg, priv);
1264
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3835
        case EC_IOCTL_VOE_REC_HEADER:
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  3836
            return ec_cdev_ioctl_voe_rec_header(master, arg, priv);
1264
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3837
        case EC_IOCTL_VOE_READ:
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3838
            if (!(filp->f_mode & FMODE_WRITE))
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  3839
                return -EPERM;
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  3840
            return ec_cdev_ioctl_voe_read(master, arg, priv);
1314
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
  3841
        case EC_IOCTL_VOE_READ_NOSYNC:
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
  3842
            if (!(filp->f_mode & FMODE_WRITE))
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  3843
                return -EPERM;
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  3844
            return ec_cdev_ioctl_voe_read_nosync(master, arg, priv);
1264
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3845
        case EC_IOCTL_VOE_WRITE:
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3846
            if (!(filp->f_mode & FMODE_WRITE))
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  3847
                return -EPERM;
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  3848
            return ec_cdev_ioctl_voe_write(master, arg, priv);
1264
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3849
        case EC_IOCTL_VOE_EXEC:
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3850
            if (!(filp->f_mode & FMODE_WRITE))
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  3851
                return -EPERM;
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  3852
            return ec_cdev_ioctl_voe_exec(master, arg, priv);
1264
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
  3853
        case EC_IOCTL_VOE_DATA:
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  3854
            return ec_cdev_ioctl_voe_data(master, arg, priv);
1804
742607c464c4 Removed tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1606
diff changeset
  3855
        case EC_IOCTL_SET_SEND_INTERVAL:
742607c464c4 Removed tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1606
diff changeset
  3856
            if (!(filp->f_mode & FMODE_WRITE))
742607c464c4 Removed tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1606
diff changeset
  3857
                return -EPERM;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
  3858
            return ec_cdev_ioctl_set_send_interval(master, arg, priv);
922
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  3859
        default:
1079
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  3860
            return -ENOTTY;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  3861
    }
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  3862
}
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  3863
ef1266652c4d Improved locking between ioctl()s and master state machine; separate
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  3864
/*****************************************************************************/
1258
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3865
1268
d9599395e89b Maintained code docs.
Florian Pose <fp@igh-essen.com>
parents: 1264
diff changeset
  3866
/** Memory-map callback for the EtherCAT character device.
d9599395e89b Maintained code docs.
Florian Pose <fp@igh-essen.com>
parents: 1264
diff changeset
  3867
 *
d9599395e89b Maintained code docs.
Florian Pose <fp@igh-essen.com>
parents: 1264
diff changeset
  3868
 * The actual mapping will be done in the eccdev_vma_nopage() callback of the
d9599395e89b Maintained code docs.
Florian Pose <fp@igh-essen.com>
parents: 1264
diff changeset
  3869
 * virtual memory area.
d9599395e89b Maintained code docs.
Florian Pose <fp@igh-essen.com>
parents: 1264
diff changeset
  3870
 */
1258
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3871
int eccdev_mmap(
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3872
        struct file *filp,
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3873
        struct vm_area_struct *vma
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3874
        )
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3875
{
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3876
    ec_cdev_priv_t *priv = (ec_cdev_priv_t *) filp->private_data;
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3877
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
  3878
    EC_MASTER_DBG(priv->cdev->master, 1, "mmap()\n");
1258
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3879
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3880
    vma->vm_ops = &eccdev_vm_ops;
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3881
    vma->vm_flags |= VM_RESERVED; /* Pages will not be swapped out */
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3882
    vma->vm_private_data = priv;
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3883
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3884
    return 0;
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3885
}
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3886
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3887
/*****************************************************************************/
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3888
1272
288c982acd23 Use .fault handler instead of .nopage handler from 2.6.23.
Florian Pose <fp@igh-essen.com>
parents: 1268
diff changeset
  3889
#if LINUX_VERSION_CODE >= PAGE_FAULT_VERSION
288c982acd23 Use .fault handler instead of .nopage handler from 2.6.23.
Florian Pose <fp@igh-essen.com>
parents: 1268
diff changeset
  3890
1268
d9599395e89b Maintained code docs.
Florian Pose <fp@igh-essen.com>
parents: 1264
diff changeset
  3891
/** Page fault callback for a virtual memory area.
d9599395e89b Maintained code docs.
Florian Pose <fp@igh-essen.com>
parents: 1264
diff changeset
  3892
 *
d9599395e89b Maintained code docs.
Florian Pose <fp@igh-essen.com>
parents: 1264
diff changeset
  3893
 * Called at the first access on a virtual-memory area retrieved with
d9599395e89b Maintained code docs.
Florian Pose <fp@igh-essen.com>
parents: 1264
diff changeset
  3894
 * ecdev_mmap().
d9599395e89b Maintained code docs.
Florian Pose <fp@igh-essen.com>
parents: 1264
diff changeset
  3895
 */
1272
288c982acd23 Use .fault handler instead of .nopage handler from 2.6.23.
Florian Pose <fp@igh-essen.com>
parents: 1268
diff changeset
  3896
static int eccdev_vma_fault(
288c982acd23 Use .fault handler instead of .nopage handler from 2.6.23.
Florian Pose <fp@igh-essen.com>
parents: 1268
diff changeset
  3897
        struct vm_area_struct *vma, /**< Virtual memory area. */
288c982acd23 Use .fault handler instead of .nopage handler from 2.6.23.
Florian Pose <fp@igh-essen.com>
parents: 1268
diff changeset
  3898
        struct vm_fault *vmf /**< Fault data. */
288c982acd23 Use .fault handler instead of .nopage handler from 2.6.23.
Florian Pose <fp@igh-essen.com>
parents: 1268
diff changeset
  3899
        )
288c982acd23 Use .fault handler instead of .nopage handler from 2.6.23.
Florian Pose <fp@igh-essen.com>
parents: 1268
diff changeset
  3900
{
1284
283aab089eb5 Fixed page fault handler.
Florian Pose <fp@igh-essen.com>
parents: 1272
diff changeset
  3901
    unsigned long offset = vmf->pgoff << PAGE_SHIFT;
283aab089eb5 Fixed page fault handler.
Florian Pose <fp@igh-essen.com>
parents: 1272
diff changeset
  3902
    ec_cdev_priv_t *priv = (ec_cdev_priv_t *) vma->vm_private_data;
1272
288c982acd23 Use .fault handler instead of .nopage handler from 2.6.23.
Florian Pose <fp@igh-essen.com>
parents: 1268
diff changeset
  3903
    struct page *page;
1284
283aab089eb5 Fixed page fault handler.
Florian Pose <fp@igh-essen.com>
parents: 1272
diff changeset
  3904
283aab089eb5 Fixed page fault handler.
Florian Pose <fp@igh-essen.com>
parents: 1272
diff changeset
  3905
    if (offset >= priv->process_data_size)
1272
288c982acd23 Use .fault handler instead of .nopage handler from 2.6.23.
Florian Pose <fp@igh-essen.com>
parents: 1268
diff changeset
  3906
        return VM_FAULT_SIGBUS;
288c982acd23 Use .fault handler instead of .nopage handler from 2.6.23.
Florian Pose <fp@igh-essen.com>
parents: 1268
diff changeset
  3907
1284
283aab089eb5 Fixed page fault handler.
Florian Pose <fp@igh-essen.com>
parents: 1272
diff changeset
  3908
    page = vmalloc_to_page(priv->process_data + offset);
283aab089eb5 Fixed page fault handler.
Florian Pose <fp@igh-essen.com>
parents: 1272
diff changeset
  3909
    if (!page)
283aab089eb5 Fixed page fault handler.
Florian Pose <fp@igh-essen.com>
parents: 1272
diff changeset
  3910
        return VM_FAULT_SIGBUS;
1272
288c982acd23 Use .fault handler instead of .nopage handler from 2.6.23.
Florian Pose <fp@igh-essen.com>
parents: 1268
diff changeset
  3911
288c982acd23 Use .fault handler instead of .nopage handler from 2.6.23.
Florian Pose <fp@igh-essen.com>
parents: 1268
diff changeset
  3912
    get_page(page);
288c982acd23 Use .fault handler instead of .nopage handler from 2.6.23.
Florian Pose <fp@igh-essen.com>
parents: 1268
diff changeset
  3913
    vmf->page = page;
1284
283aab089eb5 Fixed page fault handler.
Florian Pose <fp@igh-essen.com>
parents: 1272
diff changeset
  3914
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
  3915
    EC_MASTER_DBG(priv->cdev->master, 1, "Vma fault, virtual_address = %p,"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
  3916
            " offset = %lu, page = %p\n", vmf->virtual_address, offset, page);
1284
283aab089eb5 Fixed page fault handler.
Florian Pose <fp@igh-essen.com>
parents: 1272
diff changeset
  3917
1272
288c982acd23 Use .fault handler instead of .nopage handler from 2.6.23.
Florian Pose <fp@igh-essen.com>
parents: 1268
diff changeset
  3918
    return 0;
288c982acd23 Use .fault handler instead of .nopage handler from 2.6.23.
Florian Pose <fp@igh-essen.com>
parents: 1268
diff changeset
  3919
}
288c982acd23 Use .fault handler instead of .nopage handler from 2.6.23.
Florian Pose <fp@igh-essen.com>
parents: 1268
diff changeset
  3920
288c982acd23 Use .fault handler instead of .nopage handler from 2.6.23.
Florian Pose <fp@igh-essen.com>
parents: 1268
diff changeset
  3921
#else
288c982acd23 Use .fault handler instead of .nopage handler from 2.6.23.
Florian Pose <fp@igh-essen.com>
parents: 1268
diff changeset
  3922
288c982acd23 Use .fault handler instead of .nopage handler from 2.6.23.
Florian Pose <fp@igh-essen.com>
parents: 1268
diff changeset
  3923
/** Nopage callback for a virtual memory area.
288c982acd23 Use .fault handler instead of .nopage handler from 2.6.23.
Florian Pose <fp@igh-essen.com>
parents: 1268
diff changeset
  3924
 *
288c982acd23 Use .fault handler instead of .nopage handler from 2.6.23.
Florian Pose <fp@igh-essen.com>
parents: 1268
diff changeset
  3925
 * Called at the first access on a virtual-memory area retrieved with
288c982acd23 Use .fault handler instead of .nopage handler from 2.6.23.
Florian Pose <fp@igh-essen.com>
parents: 1268
diff changeset
  3926
 * ecdev_mmap().
288c982acd23 Use .fault handler instead of .nopage handler from 2.6.23.
Florian Pose <fp@igh-essen.com>
parents: 1268
diff changeset
  3927
 */
1258
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3928
struct page *eccdev_vma_nopage(
1268
d9599395e89b Maintained code docs.
Florian Pose <fp@igh-essen.com>
parents: 1264
diff changeset
  3929
        struct vm_area_struct *vma, /**< Virtual memory area initialized by
d9599395e89b Maintained code docs.
Florian Pose <fp@igh-essen.com>
parents: 1264
diff changeset
  3930
                                      the kernel. */
d9599395e89b Maintained code docs.
Florian Pose <fp@igh-essen.com>
parents: 1264
diff changeset
  3931
        unsigned long address, /**< Requested virtual address. */
d9599395e89b Maintained code docs.
Florian Pose <fp@igh-essen.com>
parents: 1264
diff changeset
  3932
        int *type /**< Type output parameter. */
1258
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3933
        )
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3934
{
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3935
    unsigned long offset;
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3936
    struct page *page = NOPAGE_SIGBUS;
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3937
    ec_cdev_priv_t *priv = (ec_cdev_priv_t *) vma->vm_private_data;
2061
7982704c8599 Fixed compiler error for kernel versions < 2.6.23.
Florian Pose <fp@igh-essen.com>
parents: 2009
diff changeset
  3938
    ec_master_t *master = priv->cdev->master;
1258
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3939
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3940
    offset = (address - vma->vm_start) + (vma->vm_pgoff << PAGE_SHIFT);
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3941
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3942
    if (offset >= priv->process_data_size)
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3943
        return NOPAGE_SIGBUS;
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3944
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3945
    page = vmalloc_to_page(priv->process_data + offset);
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3946
2061
7982704c8599 Fixed compiler error for kernel versions < 2.6.23.
Florian Pose <fp@igh-essen.com>
parents: 2009
diff changeset
  3947
    EC_MASTER_DBG(master, 1, "Nopage fault vma, address = %#lx,"
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1909
diff changeset
  3948
            " offset = %#lx, page = %p\n", address, offset, page);
1258
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3949
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3950
    get_page(page);
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3951
    if (type)
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3952
        *type = VM_FAULT_MINOR;
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3953
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3954
    return page;
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3955
}
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
  3956
1272
288c982acd23 Use .fault handler instead of .nopage handler from 2.6.23.
Florian Pose <fp@igh-essen.com>
parents: 1268
diff changeset
  3957
#endif
288c982acd23 Use .fault handler instead of .nopage handler from 2.6.23.
Florian Pose <fp@igh-essen.com>
parents: 1268
diff changeset
  3958
288c982acd23 Use .fault handler instead of .nopage handler from 2.6.23.
Florian Pose <fp@igh-essen.com>
parents: 1268
diff changeset
  3959
/*****************************************************************************/