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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

    12

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

    13

 *

    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

    17

 *  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

    22

 *

    23

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

    24

 *  charge under condition of compatibility of product made by

    25

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

    26

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

    27

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

    28

 *  EtherCAT specification (which are released themselves as an open

    29

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

    30

 *  Technology, IP and trade marks.

    31

 *

    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

ssize_t eccdev_read(struct file *, char __user *, size_t, loff_t *);

    55

ssize_t eccdev_write(struct file *, const char __user *, size_t, loff_t *);

    56

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

    57

    58

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

    59

    60

static struct file_operations eccdev_fops = {

    61

    .owner          = THIS_MODULE,

    62

    .open           = eccdev_open,

    63

    .release        = eccdev_release,

    64

    .unlocked_ioctl = eccdev_ioctl

    65

};

    66

    67

/** \endcond */

    68

    69

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

    70

    71

/** Constructor.

    72

 * 

    73

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

    74

 */

    75

int ec_cdev_init(

    76

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

    77

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

    78

		dev_t dev_num /**< Device number. */

    79

		)

    80

{

    81

    cdev->master = master;

    82

    83

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

    84

    cdev->cdev.owner = THIS_MODULE;

    85

    86

    if (cdev_add(&cdev->cdev,

    87

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

    88

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

    89

		return -1;

    90

    }

    91

    92

    return 0;

    93

}

    94

    95

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

    96

    97

/** Destructor.

    98

 */

    99

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

   100

{

   101

    cdev_del(&cdev->cdev);

   102

}

   103

   104

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

   105

 * File operations

   106

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

   107

   108

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

   109

{

   110

    ec_cdev_t *cdev = container_of(inode->i_cdev, ec_cdev_t, cdev);

   111

    ec_master_t *master = cdev->master;

   112

   113

    filp->private_data = cdev;

   114

    if (master->debug_level)

   115

        EC_DBG("File opened.\n");

   116

    return 0;

   117

}

   118

   119

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

   120

   121

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

   122

{

   123

    ec_cdev_t *cdev = (ec_cdev_t *) filp->private_data;

   124

    ec_master_t *master = cdev->master;

   125

   126

    if (master->debug_level)

   127

        EC_DBG("File closed.\n");

   128

    return 0;

   129

}

   130

   131

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

   132

   133

long eccdev_ioctl(struct file *filp, unsigned int cmd, unsigned long arg)

   134

{

   135

    ec_cdev_t *cdev = (ec_cdev_t *) filp->private_data;

   136

    ec_master_t *master = cdev->master;

   137

    long retval = 0;

   138

   139

    if (master->debug_level)

   140

        EC_DBG("ioctl(filp = %x, cmd = %u (%u), arg = %x)\n",

   141

                (u32) filp, (u32) cmd, (u32) _IOC_NR(cmd), (u32) arg);

   142

   143

    // FIXME lock

   144

   145

    switch (cmd) {

   146

        case EC_IOCTL_MASTER:

   147

            {

   148

                ec_ioctl_master_t data;

   149

   150

                data.slave_count = master->slave_count;

   151

                data.config_count = ec_master_config_count(master);

   152

                data.domain_count = ec_master_domain_count(master);

   153

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

   154

   155

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

   156

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

   157

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

   158

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

   159

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

   160

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

   161

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

   162

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

   163

   164

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

   165

                    retval = -EFAULT;

   166

                break;

   167

            }

   168

   169

        case EC_IOCTL_SLAVE:

   170

            {

   171

                ec_ioctl_slave_t data;

   172

                const ec_slave_t *slave;

   173

   174

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

   175

                    retval = -EFAULT;

   176

                    break;

   177

                }

   178

   179

                if (!(slave = ec_master_find_slave(

   180

                                master, 0, data.position))) {

   181

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

   182

                    retval = -EINVAL;

   183

                    break;

   184

                }

   185

   186

                data.vendor_id = slave->sii.vendor_id;

   187

                data.product_code = slave->sii.product_code;

   188

                data.revision_number = slave->sii.revision_number;

   189

                data.serial_number = slave->sii.serial_number;

   190

                data.alias = slave->sii.alias;

   191

                data.rx_mailbox_offset = slave->sii.rx_mailbox_offset;

   192

                data.rx_mailbox_size = slave->sii.rx_mailbox_size;

   193

                data.tx_mailbox_offset = slave->sii.tx_mailbox_offset;

   194

                data.tx_mailbox_size = slave->sii.tx_mailbox_size;

   195

                data.mailbox_protocols = slave->sii.mailbox_protocols;

   196

                data.has_general_category = slave->sii.has_general;

   197

                data.coe_details = slave->sii.coe_details;

   198

                data.general_flags = slave->sii.general_flags;

   199

                data.current_on_ebus = slave->sii.current_on_ebus;

   200

                data.state = slave->current_state;

   201

                data.error_flag = slave->error_flag;

   202

   203

                data.sync_count = slave->sii.sync_count;

   204

                data.sdo_count = ec_slave_sdo_count(slave);

   205

                data.sii_nwords = slave->sii_nwords;

   206

   207

                if (slave->sii.name) {

   208

                    strncpy(data.name, slave->sii.name,

   209

                            EC_IOCTL_STRING_SIZE);

   210

                    data.name[EC_IOCTL_STRING_SIZE - 1] = 0;

   211

                } else {

   212

                    data.name[0] = 0;

   213

                }

   214

   215

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

   216

                    retval = -EFAULT;

   217

                break;

   218

            }

   219

   220

        case EC_IOCTL_SYNC:

   221

            {

   222

                ec_ioctl_sync_t data;

   223

                const ec_slave_t *slave;

   224

                const ec_sync_t *sync;

   225

   226

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

   227

                    retval = -EFAULT;

   228

                    break;

   229

                }

   230

   231

                if (!(slave = ec_master_find_slave(

   232

                                master, 0, data.slave_position))) {

   233

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

   234

                    retval = -EINVAL;

   235

                    break;

   236

                }

   237

   238

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

   239

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

   240

                            data.sync_index, data.slave_position);

   241

                    retval = -EINVAL;

   242

                    break;

   243

                }

   244

   245

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

   246

   247

                data.physical_start_address = sync->physical_start_address;

   248

                data.default_size = sync->length;

   249

                data.control_register = sync->control_register;

   250

                data.enable = sync->enable;

   251

                data.assign_source = sync->assign_source;

   252

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

   253

   254

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

   255

                    retval = -EFAULT;

   256

                break;

   257

            }

   258

   259

        case EC_IOCTL_PDO:

   260

            {

   261

                ec_ioctl_pdo_t data;

   262

                const ec_slave_t *slave;

   263

                const ec_sync_t *sync;

   264

                const ec_pdo_t *pdo;

   265

   266

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

   267

                    retval = -EFAULT;

   268

                    break;

   269

                }

   270

   271

                if (!(slave = ec_master_find_slave(

   272

                                master, 0, data.slave_position))) {

   273

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

   274

                    retval = -EINVAL;

   275

                    break;

   276

                }

   277

   278

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

   279

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

   280

                            data.sync_index, data.slave_position);

   281

                    retval = -EINVAL;

   282

                    break;

   283

                }

   284

   285

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

   286

                if (!(pdo = ec_pdo_list_find_pdo_by_pos_const(

   287

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

   288

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

   289

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

   290

                            data.pdo_pos, data.slave_position);

   291

                    retval = -EINVAL;

   292

                    break;

   293

                }

   294

   295

                data.dir = pdo->dir;

   296

                data.index = pdo->index;

   297

                data.entry_count = ec_pdo_entry_count(pdo);

   298

   299

                if (pdo->name) {

   300

                    strncpy(data.name, pdo->name, EC_IOCTL_STRING_SIZE);

   301

                    data.name[EC_IOCTL_STRING_SIZE - 1] = 0;

   302

                } else {

   303

                    data.name[0] = 0;

   304

                }

   305

   306

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

   307

                    retval = -EFAULT;

   308

                break;

   309

            }

   310

   311

        case EC_IOCTL_PDO_ENTRY:

   312

            {

   313

                ec_ioctl_pdo_entry_t data;

   314

                const ec_slave_t *slave;

   315

                const ec_sync_t *sync;

   316

                const ec_pdo_t *pdo;

   317

                const ec_pdo_entry_t *entry;

   318

   319

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

   320

                    retval = -EFAULT;

   321

                    break;

   322

                }

   323

   324

                if (!(slave = ec_master_find_slave(

   325

                                master, 0, data.slave_position))) {

   326

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

   327

                    retval = -EINVAL;

   328

                    break;

   329

                }

   330

   331

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

   332

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

   333

                            data.sync_index, data.slave_position);

   334

                    retval = -EINVAL;

   335

                    break;

   336

                }

   337

   338

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

   339

                if (!(pdo = ec_pdo_list_find_pdo_by_pos_const(

   340

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

   341

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

   342

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

   343

                            data.pdo_pos, data.slave_position);

   344

                    retval = -EINVAL;

   345

                    break;

   346

                }

   347

   348

                if (!(entry = ec_pdo_find_entry_by_pos_const(

   349

                                pdo, data.entry_pos))) {

   350

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

   351

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

   352

                            data.entry_pos, data.slave_position);

   353

                    retval = -EINVAL;

   354

                    break;

   355

                }

   356

   357

                data.index = entry->index;

   358

                data.subindex = entry->subindex;

   359

                data.bit_length = entry->bit_length;

   360

                if (entry->name) {

   361

                    strncpy(data.name, entry->name, EC_IOCTL_STRING_SIZE);

   362

                    data.name[EC_IOCTL_STRING_SIZE - 1] = 0;

   363

                } else {

   364

                    data.name[0] = 0;

   365

                }

   366

   367

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

   368

                    retval = -EFAULT;

   369

                break;

   370

            }

   371

   372

        case EC_IOCTL_DOMAIN:

   373

            {

   374

                ec_ioctl_domain_t data;

   375

                const ec_domain_t *domain;

   376

   377

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

   378

                    retval = -EFAULT;

   379

                    break;

   380

                }

   381

   382

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

   383

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

   384

                    retval = -EINVAL;

   385

                    break;

   386

                }

   387

   388

                data.data_size = domain->data_size;

   389

                data.logical_base_address = domain->logical_base_address;

   390

                data.working_counter = domain->working_counter;

   391

                data.expected_working_counter = domain->expected_working_counter;

   392

                data.fmmu_count = ec_domain_fmmu_count(domain);

   393

   394

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

   395

                    retval = -EFAULT;

   396

                break;

   397

            }

   398

   399

        case EC_IOCTL_DOMAIN_FMMU:

   400

            {

   401

                ec_ioctl_domain_fmmu_t data;

   402

                const ec_domain_t *domain;

   403

                const ec_fmmu_config_t *fmmu;

   404

   405

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

   406

                    retval = -EFAULT;

   407

                    break;

   408

                }

   409

   410

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

   411

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

   412

                    retval = -EINVAL;

   413

                    break;

   414

                }

   415

   416

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

   417

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

   418

                            data.domain_index, data.fmmu_index + 1);

   419

                    retval = -EINVAL;

   420

                    break;

   421

                }

   422

   423

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

   424

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

   425

                data.fmmu_dir = fmmu->dir;

   426

                data.logical_address = fmmu->logical_start_address;

   427

                data.data_size = fmmu->data_size;

   428

   429

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

   430

                    retval = -EFAULT;

   431

                break;

   432

            }

   433

   434

        case EC_IOCTL_DATA:

   435

            {

   436

                ec_ioctl_data_t data;

   437

                const ec_domain_t *domain;

   438

   439

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

   440

                    retval = -EFAULT;

   441

                    break;

   442

                }

   443

   444

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

   445

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

   446

                    retval = -EINVAL;

   447

                    break;

   448

                }

   449

   450

                if (domain->data_size != data.data_size) {

   451

                    EC_ERR("Data size mismatch %u/%u!\n",

   452

                            data.data_size, domain->data_size);

   453

                    retval = -EFAULT;

   454

                    break;

   455

                }

   456

   457

                if (copy_to_user((void __user *) data.target, domain->data,

   458

                            domain->data_size))

   459

                    retval = -EFAULT;

   460

                break;

   461

            }

   462

   463

        case EC_IOCTL_SET_DEBUG:

   464

            if (!(filp->f_mode & FMODE_WRITE))

   465

                return -EPERM;

   466

            if (ec_master_debug_level(master, (unsigned int) arg))

   467

                retval = -EINVAL;

   468

            break;

   469

   470

        case EC_IOCTL_SLAVE_STATE:

   471

            {

   472

                ec_ioctl_slave_state_t data;

   473

                ec_slave_t *slave;

   474

   475

                if (!(filp->f_mode & FMODE_WRITE))

   476

                    return -EPERM;

   477

   478

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

   479

                    retval = -EFAULT;

   480

                    break;

   481

                }

   482

   483

                if (!(slave = ec_master_find_slave(

   484

                                master, 0, data.slave_position))) {

   485

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

   486

                    retval = -EINVAL;

   487

                    break;

   488

                }

   489

   490

                ec_slave_request_state(slave, data.requested_state);

   491

                break;

   492

            }

   493

   494

        case EC_IOCTL_SDO:

   495

            {

   496

                ec_ioctl_sdo_t data;

   497

                const ec_slave_t *slave;

   498

                const ec_sdo_t *sdo;

   499

   500

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