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

     2

 *

     3

 *  $Id$

     4

 *

     5

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

     6

 *

     7

 *  This file is part of the IgH EtherCAT Master.

     8

 *

     9

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

    10

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

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 *  published by the Free Software Foundation.

    12

 *

    13

 *  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

    15

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

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 *  Public License for more details.

    17

 *

    18

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

    19

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

    20

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

    21

 *

    22

 *  ---

    23

 *

    24

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

    25

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

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 *  industrial property and similar rights of Beckhoff Automation GmbH.

    27

 *

    28

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

    29

    30

/**

    31

   \file

    32

   EtherCAT master character device.

    33

*/

    34

    35

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

    36

    37

#include <linux/module.h>

    38

#include <linux/vmalloc.h>

    39

#include <linux/mm.h>

    40

    41

#include "cdev.h"

    42

#include "master.h"

    43

#include "slave_config.h"

    44

#include "voe_handler.h"

    45

#include "ioctl.h"

    46

    47

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

    48

    49

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

    50

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

    51

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

    52

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

    53

    54

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

    55

 * vm_operations_struct is usable.

    56

 */

    57

#define PAGE_FAULT_VERSION KERNEL_VERSION(2, 6, 23)

    58

    59

#if LINUX_VERSION_CODE >= PAGE_FAULT_VERSION

    60

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

    61

#else

    62

static struct page *eccdev_vma_nopage(

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        struct vm_area_struct *, unsigned long, int *);

    64

#endif

    65

    66

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

    67

    68

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

    69

 */

    70

static struct file_operations eccdev_fops = {

    71

    .owner          = THIS_MODULE,

    72

    .open           = eccdev_open,

    73

    .release        = eccdev_release,

    74

    .unlocked_ioctl = eccdev_ioctl,

    75

    .mmap           = eccdev_mmap

    76

};

    77

    78

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

    79

 */

    80

struct vm_operations_struct eccdev_vm_ops = {

    81

#if LINUX_VERSION_CODE >= PAGE_FAULT_VERSION

    82

    .fault = eccdev_vma_fault

    83

#else

    84

    .nopage = eccdev_vma_nopage

    85

#endif

    86

};

    87

    88

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

    89

    90

/** Private data structure for file handles.

    91

 */

    92

typedef struct {

    93

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

    94

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

    95

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

    96

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

    97

} ec_cdev_priv_t;

    98

    99

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

   100

   101

/** Constructor.

   102

 * 

   103

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

   104

 */

   105

int ec_cdev_init(

   106

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

   107

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

   108

		dev_t dev_num /**< Device number. */

   109

		)

   110

{

   111

    int ret;

   112

   113

    cdev->master = master;

   114

   115

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

   116

    cdev->cdev.owner = THIS_MODULE;

   117

   118

    ret = cdev_add(&cdev->cdev,

   119

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

   120

    if (ret) {

   121

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

   122

    }

   123

   124

    return ret;

   125

}

   126

   127

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

   128

   129

/** Destructor.

   130

 */

   131

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

   132

{

   133

    cdev_del(&cdev->cdev);

   134

}

   135

   136

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

   137

   138

/** Copies a string to an ioctl structure.

   139

 */

   140

void ec_cdev_strcpy(

   141

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

   142

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

   143

        )

   144

{

   145

    if (source) {

   146

        strncpy(target, source, EC_IOCTL_STRING_SIZE);

   147

        target[EC_IOCTL_STRING_SIZE - 1] = 0;

   148

    } else {

   149

        target[0] = 0;

   150

    }

   151

}

   152

   153

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

   154

   155

/** Get master information.

   156

 */

   157

int ec_cdev_ioctl_master(

   158

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

   159

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

   160

        )

   161

{

   162

    ec_ioctl_master_t data;

   163

   164

    if (down_interruptible(&master->master_sem))

   165

        return -EINTR;

   166

    data.slave_count = master->slave_count;

   167

    data.config_count = ec_master_config_count(master);

   168

    data.domain_count = ec_master_domain_count(master);

   169

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

   170

    up(&master->master_sem);

   171

   172

    if (down_interruptible(&master->device_sem))

   173

        return -EINTR;

   174

    if (master->main_device.dev) {

   175

        memcpy(data.devices[0].address,

   176

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

   177

    } else {

   178

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

   179

    }

   180

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

   181

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

   182

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

   183

   184

    if (master->backup_device.dev) {

   185

        memcpy(data.devices[1].address,

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

   187

    } else {

   188

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

   189

    }

   190

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

   191

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

   192

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

   193

    up(&master->device_sem);

   194

   195

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

   196

        return -EFAULT;

   197

   198

    return 0;

   199

}

   200

   201

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

   202

   203

/** Get slave information.

   204

 */

   205

int ec_cdev_ioctl_slave(

   206

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

   207

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

   208

        )

   209

{

   210

    ec_ioctl_slave_t data;

   211

    const ec_slave_t *slave;

   212

    int i;

   213

   214

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

   215

        return -EFAULT;

   216

    }

   217

   218

    if (down_interruptible(&master->master_sem))

   219

        return -EINTR;

   220

   221

    if (!(slave = ec_master_find_slave_const(

   222

                    master, 0, data.position))) {

   223

        up(&master->master_sem);

   224

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

   225

        return -EINVAL;

   226

    }

   227

   228

    data.vendor_id = slave->sii.vendor_id;

   229

    data.product_code = slave->sii.product_code;

   230

    data.revision_number = slave->sii.revision_number;

   231

    data.serial_number = slave->sii.serial_number;

   232

    data.alias = slave->sii.alias;

   233

    data.boot_rx_mailbox_offset = slave->sii.boot_rx_mailbox_offset;

   234

    data.boot_rx_mailbox_size = slave->sii.boot_rx_mailbox_size;

   235

    data.boot_tx_mailbox_offset = slave->sii.boot_tx_mailbox_offset;

   236

    data.boot_tx_mailbox_size = slave->sii.boot_tx_mailbox_size;

   237

    data.std_rx_mailbox_offset = slave->sii.std_rx_mailbox_offset;

   238

    data.std_rx_mailbox_size = slave->sii.std_rx_mailbox_size;

   239

    data.std_tx_mailbox_offset = slave->sii.std_tx_mailbox_offset;

   240

    data.std_tx_mailbox_size = slave->sii.std_tx_mailbox_size;

   241

    data.mailbox_protocols = slave->sii.mailbox_protocols;

   242

    data.has_general_category = slave->sii.has_general;

   243

    data.coe_details = slave->sii.coe_details;

   244

    data.general_flags = slave->sii.general_flags;

   245

    data.current_on_ebus = slave->sii.current_on_ebus;

   246

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

   247

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

   248

    }

   249

    data.fmmu_bit = slave->base_fmmu_bit_operation;

   250

    data.dc_supported = slave->base_dc_supported;

   251

    data.dc_range = slave->base_dc_range;

   252

    data.al_state = slave->current_state;

   253

    data.error_flag = slave->error_flag;

   254

   255

    data.sync_count = slave->sii.sync_count;

   256

    data.sdo_count = ec_slave_sdo_count(slave);

   257

    data.sii_nwords = slave->sii_nwords;

   258

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

   259

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

   260

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

   261

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

   262

   263

    up(&master->master_sem);

   264

   265

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

   266

        return -EFAULT;

   267

   268

    return 0;

   269

}

   270

   271

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

   272

   273

/** Get slave sync manager information.

   274

 */

   275

int ec_cdev_ioctl_slave_sync(

   276

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

   277

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

   278

        )

   279

{

   280

    ec_ioctl_slave_sync_t data;

   281

    const ec_slave_t *slave;

   282

    const ec_sync_t *sync;

   283

   284

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

   285

        return -EFAULT;

   286

    }

   287

   288

    if (down_interruptible(&master->master_sem))

   289

        return -EINTR;

   290

   291

    if (!(slave = ec_master_find_slave_const(

   292

                    master, 0, data.slave_position))) {

   293

        up(&master->master_sem);

   294

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

   295

        return -EINVAL;

   296

    }

   297

   298

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

   299

        up(&master->master_sem);

   300

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

   301

                data.sync_index, data.slave_position);

   302

        return -EINVAL;

   303

    }

   304

   305

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

   306

   307

    data.physical_start_address = sync->physical_start_address;

   308

    data.default_size = sync->default_length;

   309

    data.control_register = sync->control_register;

   310

    data.enable = sync->enable;

   311

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

   312

   313

    up(&master->master_sem);

   314

   315

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

   316

        return -EFAULT;

   317

   318

    return 0;

   319

}

   320

   321

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

   322

   323

/** Get slave sync manager PDO information.

   324

 */

   325

int ec_cdev_ioctl_slave_sync_pdo(

   326

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

   327

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

   328

        )

   329

{

   330

    ec_ioctl_slave_sync_pdo_t data;

   331

    const ec_slave_t *slave;

   332

    const ec_sync_t *sync;

   333

    const ec_pdo_t *pdo;

   334

   335

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

   336

        return -EFAULT;

   337

    }

   338

   339

    if (down_interruptible(&master->master_sem))

   340

        return -EINTR;

   341

   342

    if (!(slave = ec_master_find_slave_const(

   343

                    master, 0, data.slave_position))) {

   344

        up(&master->master_sem);

   345

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

   346

        return -EINVAL;

   347

    }

   348

   349

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

   350

        up(&master->master_sem);

   351

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

   352

                data.sync_index, data.slave_position);

   353

        return -EINVAL;

   354

    }

   355

   356

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

   357

    if (!(pdo = ec_pdo_list_find_pdo_by_pos_const(

   358

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

   359

        up(&master->master_sem);

   360

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

   361

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

   362

                data.pdo_pos, data.slave_position);

   363

        return -EINVAL;

   364

    }

   365

   366

    data.index = pdo->index;

   367

    data.entry_count = ec_pdo_entry_count(pdo);

   368

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

   369

   370

    up(&master->master_sem);

   371

   372

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

   373

        return -EFAULT;

   374

   375

    return 0;

   376

}

   377

   378

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

   379

   380

/** Get slave sync manager PDO entry information.

   381

 */

   382

int ec_cdev_ioctl_slave_sync_pdo_entry(

   383

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

   384

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

   385

        )

   386

{

   387

    ec_ioctl_slave_sync_pdo_entry_t data;

   388

    const ec_slave_t *slave;

   389

    const ec_sync_t *sync;

   390

    const ec_pdo_t *pdo;

   391

    const ec_pdo_entry_t *entry;

   392

   393

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

   394

        return -EFAULT;

   395

    }

   396

   397

    if (down_interruptible(&master->master_sem))

   398

        return -EINTR;

   399

   400

    if (!(slave = ec_master_find_slave_const(

   401

                    master, 0, data.slave_position))) {

   402

        up(&master->master_sem);

   403

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

   404

        return -EINVAL;

   405

    }

   406

   407

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

   408

        up(&master->master_sem);

   409

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

   410

                data.sync_index, data.slave_position);

   411

        return -EINVAL;

   412

    }

   413

   414

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

   415

    if (!(pdo = ec_pdo_list_find_pdo_by_pos_const(

   416

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

   417

        up(&master->master_sem);

   418

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

   419

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

   420

                data.pdo_pos, data.slave_position);

   421

        return -EINVAL;

   422

    }

   423

   424

    if (!(entry = ec_pdo_find_entry_by_pos_const(

   425

                    pdo, data.entry_pos))) {

   426

        up(&master->master_sem);

   427

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

   428

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

   429

                data.entry_pos, data.slave_position);

   430

        return -EINVAL;

   431

    }

   432

   433

    data.index = entry->index;

   434

    data.subindex = entry->subindex;

   435

    data.bit_length = entry->bit_length;

   436

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

   437

   438

    up(&master->master_sem);

   439

   440

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

   441

        return -EFAULT;

   442

   443

    return 0;

   444

}

   445

   446

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

   447

   448

/** Get domain information.

   449

 */

   450

int ec_cdev_ioctl_domain(

   451

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

   452

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

   453

        )

   454

{

   455

    ec_ioctl_domain_t data;

   456

    const ec_domain_t *domain;

   457

   458

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

   459

        return -EFAULT;

   460

    }

   461

   462

    if (down_interruptible(&master->master_sem))

   463

        return -EINTR;

   464

   465

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

   466

        up(&master->master_sem);

   467

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

   468

        return -EINVAL;

   469

    }

   470

   471

    data.data_size = domain->data_size;

   472

    data.logical_base_address = domain->logical_base_address;

   473

    data.working_counter = domain->working_counter;

   474

    data.expected_working_counter = domain->expected_working_counter;

   475

    data.fmmu_count = ec_domain_fmmu_count(domain);

   476

   477

    up(&master->master_sem);

   478

   479

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

   480

        return -EFAULT;

   481

   482

    return 0;

   483

}

   484

   485

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

   486

   487

/** Get domain FMMU information.

   488

 */

   489

int ec_cdev_ioctl_domain_fmmu(

   490

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

   491

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

   492

        )

   493

{

   494

    ec_ioctl_domain_fmmu_t data;

   495

    const ec_domain_t *domain;