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

     2

 *

     3

 *  $Id$

     4

 *

     5

 *  Copyright (C) 2006  Florian Pose, Ingenieurgemeinschaft IgH

     6

 *

     7

 *  This file is part of the IgH EtherCAT Master.

     8

 *

     9

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

    10

 *  and/or modify it under the terms of the GNU General Public License

    11

 *  as published by the Free Software Foundation; either version 2 of the

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 *  License, or (at your option) any later version.

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 *

    14

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

    15

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

    16

 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

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 *  GNU General Public License for more details.

    18

 *

    19

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

    20

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

    21

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

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 *

    23

 *  The right to use EtherCAT Technology is granted and comes free of

    24

 *  charge under condition of compatibility of product made by

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 *  Licensee. People intending to distribute/sell products based on the

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 *  code, have to sign an agreement to guarantee that products using

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 *  software based on IgH EtherCAT master stay compatible with the actual

    28

 *  EtherCAT specification (which are released themselves as an open

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 *  standard) as the (only) precondition to have the right to use EtherCAT

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 *  Technology, IP and trade marks.

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 *

    32

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

    33

    34

/**

    35

   \file

    36

   EtherCAT master character device.

    37

*/

    38

    39

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

    40

    41

#include <linux/module.h>

    42

    43

#include "cdev.h"

    44

#include "master.h"

    45

#include "slave_config.h"

    46

#include "ioctl.h"

    47

    48

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

    49

    50

/** \cond */

    51

    52

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

    53

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

    54

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

    55

    56

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

    57

    58

static struct file_operations eccdev_fops = {

    59

    .owner          = THIS_MODULE,

    60

    .open           = eccdev_open,

    61

    .release        = eccdev_release,

    62

    .unlocked_ioctl = eccdev_ioctl

    63

};

    64

    65

/** \endcond */

    66

    67

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

    68

    69

/** Constructor.

    70

 * 

    71

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

    72

 */

    73

int ec_cdev_init(

    74

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

    75

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

    76

		dev_t dev_num /**< Device number. */

    77

		)

    78

{

    79

    cdev->master = master;

    80

    81

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

    82

    cdev->cdev.owner = THIS_MODULE;

    83

    84

    if (cdev_add(&cdev->cdev,

    85

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

    86

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

    87

		return -1;

    88

    }

    89

    90

    return 0;

    91

}

    92

    93

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

    94

    95

/** Destructor.

    96

 */

    97

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

    98

{

    99

    cdev_del(&cdev->cdev);

   100

}

   101

   102

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

   103

   104

/** Copies a string to an ioctl structure.

   105

 */

   106

void ec_cdev_strcpy(

   107

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

   108

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

   109

        )

   110

{

   111

    if (source) {

   112

        strncpy(target, source, EC_IOCTL_STRING_SIZE);

   113

        target[EC_IOCTL_STRING_SIZE - 1] = 0;

   114

    } else {

   115

        target[0] = 0;

   116

    }

   117

}

   118

   119

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

   120

   121

/** Get master information.

   122

 */

   123

int ec_cdev_ioctl_master(

   124

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

   125

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

   126

        )

   127

{

   128

    ec_ioctl_master_t data;

   129

   130

    down(&master->master_sem);

   131

    data.slave_count = master->slave_count;

   132

    data.config_count = ec_master_config_count(master);

   133

    data.domain_count = ec_master_domain_count(master);

   134

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

   135

    up(&master->master_sem);

   136

   137

    down(&master->device_sem);

   144

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

   145

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

   146

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

   154

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

   155

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

   156

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

   157

    up(&master->device_sem);

   158

   159

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

   160

        return -EFAULT;

   161

   162

    return 0;

   163

}

   164

   165

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

   166

   167

/** Get slave information.

   168

 */

   169

int ec_cdev_ioctl_slave(

   170

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

   171

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

   172

        )

   173

{

   174

    ec_ioctl_slave_t data;

   175

    const ec_slave_t *slave;

   176

   177

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

   178

        return -EFAULT;

   179

    }

   180

   181

    down(&master->master_sem);

   182

   183

    if (!(slave = ec_master_find_slave_const(

   184

                    master, 0, data.position))) {

   185

        up(&master->master_sem);

   186

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

   187

        return -EINVAL;

   188

    }

   189

   190

    data.vendor_id = slave->sii.vendor_id;

   191

    data.product_code = slave->sii.product_code;

   192

    data.revision_number = slave->sii.revision_number;

   193

    data.serial_number = slave->sii.serial_number;

   194

    data.alias = slave->sii.alias;

   195

    data.rx_mailbox_offset = slave->sii.rx_mailbox_offset;

   196

    data.rx_mailbox_size = slave->sii.rx_mailbox_size;

   197

    data.tx_mailbox_offset = slave->sii.tx_mailbox_offset;

   198

    data.tx_mailbox_size = slave->sii.tx_mailbox_size;

   199

    data.mailbox_protocols = slave->sii.mailbox_protocols;

   200

    data.has_general_category = slave->sii.has_general;

   201

    data.coe_details = slave->sii.coe_details;

   202

    data.general_flags = slave->sii.general_flags;

   203

    data.current_on_ebus = slave->sii.current_on_ebus;

   204

    data.al_state = slave->current_state;

   205

    data.error_flag = slave->error_flag;

   206

   207

    data.sync_count = slave->sii.sync_count;

   208

    data.sdo_count = ec_slave_sdo_count(slave);

   209

    data.sii_nwords = slave->sii_nwords;

   210

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

   211

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

   212

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

   213

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

   214

   215

    up(&master->master_sem);

   216

   217

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

   218

        return -EFAULT;

   219

   220

    return 0;

   221

}

   222

   223

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

   224

   225

/** Get slave sync manager information.

   226

 */

   227

int ec_cdev_ioctl_slave_sync(

   228

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

   229

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

   230

        )

   231

{

   232

    ec_ioctl_slave_sync_t data;

   233

    const ec_slave_t *slave;

   234

    const ec_sync_t *sync;

   235

   236

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

   237

        return -EFAULT;

   238

    }

   239

   240

    down(&master->master_sem);

   241

   242

    if (!(slave = ec_master_find_slave_const(

   243

                    master, 0, data.slave_position))) {

   244

        up(&master->master_sem);

   245

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

   246

        return -EINVAL;

   247

    }

   248

   249

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

   250

        up(&master->master_sem);

   251

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

   252

                data.sync_index, data.slave_position);

   253

        return -EINVAL;

   254

    }

   255

   256

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

   257

   258

    data.physical_start_address = sync->physical_start_address;

   259

    data.default_size = sync->default_length;

   260

    data.control_register = sync->control_register;

   261

    data.enable = sync->enable;

   262

    data.assign_source = sync->assign_source;

   263

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

   264

   265

    up(&master->master_sem);

   266

   267

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

   268

        return -EFAULT;

   269

   270

    return 0;

   271

}

   272

   273

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

   274

   275

/** Get slave sync manager Pdo information.

   276

 */

   277

int ec_cdev_ioctl_slave_sync_pdo(

   278

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

   279

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

   280

        )

   281

{

   282

    ec_ioctl_slave_sync_pdo_t data;

   283

    const ec_slave_t *slave;

   284

    const ec_sync_t *sync;

   285

    const ec_pdo_t *pdo;

   286

   287

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

   288

        return -EFAULT;

   289

    }

   290

   291

    down(&master->master_sem);

   292

   293

    if (!(slave = ec_master_find_slave_const(

   294

                    master, 0, data.slave_position))) {

   295

        up(&master->master_sem);

   296

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

   297

        return -EINVAL;

   298

    }

   299

   300

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

   301

        up(&master->master_sem);

   302

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

   303

                data.sync_index, data.slave_position);

   304

        return -EINVAL;

   305

    }

   306

   307

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

   308

    if (!(pdo = ec_pdo_list_find_pdo_by_pos_const(

   309

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

   310

        up(&master->master_sem);

   311

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

   312

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

   313

                data.pdo_pos, data.slave_position);

   314

        return -EINVAL;

   315

    }

   316

   317

    data.index = pdo->index;

   318

    data.entry_count = ec_pdo_entry_count(pdo);

   319

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

   320

   321

    up(&master->master_sem);

   322

   323

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

   324

        return -EFAULT;

   325

   326

    return 0;

   327

}

   328

   329

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

   330

   331

/** Get slave sync manager Pdo entry information.

   332

 */

   333

int ec_cdev_ioctl_slave_sync_pdo_entry(

   334

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

   335

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

   336

        )

   337

{

   338

    ec_ioctl_slave_sync_pdo_entry_t data;

   339

    const ec_slave_t *slave;

   340

    const ec_sync_t *sync;

   341

    const ec_pdo_t *pdo;

   342

    const ec_pdo_entry_t *entry;

   343

   344

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

   345

        return -EFAULT;

   346

    }

   347

   348

    down(&master->master_sem);

   349

   350

    if (!(slave = ec_master_find_slave_const(

   351

                    master, 0, data.slave_position))) {

   352

        up(&master->master_sem);

   353

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

   354

        return -EINVAL;

   355

    }

   356

   357

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

   358

        up(&master->master_sem);

   359

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

   360

                data.sync_index, data.slave_position);

   361

        return -EINVAL;

   362

    }

   363

   364

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

   365

    if (!(pdo = ec_pdo_list_find_pdo_by_pos_const(

   366

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

   367

        up(&master->master_sem);

   368

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

   369

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

   370

                data.pdo_pos, data.slave_position);

   371

        return -EINVAL;

   372

    }

   373

   374

    if (!(entry = ec_pdo_find_entry_by_pos_const(

   375

                    pdo, data.entry_pos))) {

   376

        up(&master->master_sem);

   377

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

   378

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

   379

                data.entry_pos, data.slave_position);

   380

        return -EINVAL;

   381

    }

   382

   383

    data.index = entry->index;

   384

    data.subindex = entry->subindex;

   385

    data.bit_length = entry->bit_length;

   386

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

   387

   388

    up(&master->master_sem);

   389

   390

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

   391

        return -EFAULT;

   392

   393

    return 0;

   394

}

   395

   396

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

   397

   398

/** Get domain information.

   399

 */

   400

int ec_cdev_ioctl_domain(

   401

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

   402

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

   403

        )

   404

{

   405

    ec_ioctl_domain_t data;

   406

    const ec_domain_t *domain;

   407

   408

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

   409

        return -EFAULT;

   410

    }

   411

   412

    down(&master->master_sem);

   413

   414

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

   415

        up(&master->master_sem);

   416

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

   417

        return -EINVAL;

   418

    }

   419

   420

    data.data_size = domain->data_size;

   421

    data.logical_base_address = domain->logical_base_address;

   422

    data.working_counter = domain->working_counter;

   423

    data.expected_working_counter = domain->expected_working_counter;

   424

    data.fmmu_count = ec_domain_fmmu_count(domain);

   425

   426

    up(&master->master_sem);

   427

   428

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

   429

        return -EFAULT;

   430

   431

    return 0;

   432

}

   433

   434

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

   435

   436

/** Get domain FMMU information.

   437

 */

   438

int ec_cdev_ioctl_domain_fmmu(

   439

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

   440

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

   441

        )

   442

{

   443

    ec_ioctl_domain_fmmu_t data;

   444

    const ec_domain_t *domain;

   445

    const ec_fmmu_config_t *fmmu;

   446

   447

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

   448

        return -EFAULT;

   449

    }

   450

   451

    down(&master->master_sem);

   452

   453

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

   454

        up(&master->master_sem);

   455

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

   456

        return -EINVAL;

   457

    }

   458

   459

    if (!(fmmu = ec_domain_find_fmmu(domain, data.fmmu_index))) {

   460

        up(&master->master_sem);

   461

        EC_ERR("Domain %u has less than %u fmmu configurations.\n",

   462

                data.domain_index, data.fmmu_index + 1);

   463

        return -EINVAL;

   464

    }

   465

   466

    data.slave_config_alias = fmmu->sc->alias;

   467

    data.slave_config_position = fmmu->sc->position;

   468

    data.sync_index = fmmu->sync_index;

   469

    data.dir = fmmu->dir;

   470

    data.logical_address = fmmu->logical_start_address;

   471

    data.data_size = fmmu->data_size;

   472

   473

    up(&master->master_sem);

   474

   475

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

   476

        return -EFAULT;

   477

   478

    return 0;

   479

}

   480

   481

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

   482

   483

/** Get domain data.

   484

 */

   485

int ec_cdev_ioctl_domain_data(

   486

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

   487

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

   488

        )

   489

{

   490

    ec_ioctl_domain_data_t data;

   491

    const ec_domain_t *domain;

   492

   493

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

   494

        return -EFAULT;

   495

    }

   496

   497

    down(&master->master_sem);

   498

   499

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

   500

        up(&master->master_sem);

   501

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