etherlabmaster: master/rtdm.c@5e5bec5ee9c1 (annotated)

2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1	/*****************************************************************************
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2	*
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3	* $Id$
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4	*
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	5	* Copyright (C) 2009-2010 Moehwald GmbH B. Benner
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	6	* 2011 IgH Andreas Stewering-Bone
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	7	* 2012 Florian Pose <fp@igh-essen.com>
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	8	*
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	9	* This file is part of the IgH EtherCAT master.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	10	*
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	11	* The IgH EtherCAT master is free software; you can redistribute it and/or
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	12	* modify it under the terms of the GNU General Public License as published
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	13	* by the Free Software Foundation; version 2 of the License.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	14	*
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	15	* The IgH EtherCAT master is distributed in the hope that it will be useful,
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	16	* but WITHOUT ANY WARRANTY; without even the implied warranty of
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	17	* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	18	* Public License for more details.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	19	*
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	20	* You should have received a copy of the GNU General Public License along
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	21	* with the IgH EtherCAT master. If not, see <http://www.gnu.org/licenses/>.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	22	*
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	23	* The license mentioned above concerns the source code only. Using the
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	24	* EtherCAT technology and brand is only permitted in compliance with the
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	25	* industrial property and similar rights of Beckhoff Automation GmbH.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	26	*
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	27	****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	28
2524 6d9865c37b6f Some more doxygen documentation. Florian Pose <fp@igh-essen.com> parents: 2522 diff changeset	29	/** \file
6d9865c37b6f Some more doxygen documentation. Florian Pose <fp@igh-essen.com> parents: 2522 diff changeset	30	* RTDM interface.
6d9865c37b6f Some more doxygen documentation. Florian Pose <fp@igh-essen.com> parents: 2522 diff changeset	31	*/
6d9865c37b6f Some more doxygen documentation. Florian Pose <fp@igh-essen.com> parents: 2522 diff changeset	32
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	33	#include <linux/module.h>
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	34	#include <linux/slab.h>
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	35	#include <linux/mman.h>
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	36
2700 93ef210e9b56 Intermediate state while updating master's RTDM part to Xenomai 3 Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2524 diff changeset	37	#include <rtdm/driver.h>
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	38
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	39	#include "master.h"
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	40	#include "ioctl.h"
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	41	#include "rtdm.h"
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	42
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	43	/** Set to 1 to enable device operations debugging.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	44	*/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	45	#define DEBUG 0
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	46
2707 245d8592cfdc Continued update of master's rtdm part to xenomai 3 : ioctl context now obtained from rtdm_fd Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2706 diff changeset	47
245d8592cfdc Continued update of master's rtdm part to xenomai 3 : ioctl context now obtained from rtdm_fd Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2706 diff changeset	48	/****************************************************************************/
245d8592cfdc Continued update of master's rtdm part to xenomai 3 : ioctl context now obtained from rtdm_fd Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2706 diff changeset	49
245d8592cfdc Continued update of master's rtdm part to xenomai 3 : ioctl context now obtained from rtdm_fd Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2706 diff changeset	50	int ec_rtdm_open(struct rtdm_fd *, int);
245d8592cfdc Continued update of master's rtdm part to xenomai 3 : ioctl context now obtained from rtdm_fd Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2706 diff changeset	51	void ec_rtdm_close(struct rtdm_fd *);
2719 94c9657e0bee Xenomai 2 to 3 migration says "RTDM drivers implementing differentiated ioctl() support for both domains should serve all real-time only requests from ioctl_rt(), returning -ENOSYS for any unrecognized request, which will cause the adaptive switch to take place automatically to the ioctl_nrt() handler. The ioctl_nrt() should then implement all requests which may be valid from the regular Linux domain exclusively." Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2713 diff changeset	52	int ec_rtdm_rt_ioctl(struct rtdm_fd *,
94c9657e0bee Xenomai 2 to 3 migration says "RTDM drivers implementing differentiated ioctl() support for both domains should serve all real-time only requests from ioctl_rt(), returning -ENOSYS for any unrecognized request, which will cause the adaptive switch to take place automatically to the ioctl_nrt() handler. The ioctl_nrt() should then implement all requests which may be valid from the regular Linux domain exclusively." Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2713 diff changeset	53	unsigned int, void __user *);
2707 245d8592cfdc Continued update of master's rtdm part to xenomai 3 : ioctl context now obtained from rtdm_fd Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2706 diff changeset	54	int ec_rtdm_ioctl(struct rtdm_fd *,
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	55	unsigned int, void __user *);
2712 5d21d80777a6 Use new RTDM's mmap, not anymore a special case compared to normal linux mmap. Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2707 diff changeset	56	int ec_rtdm_mmap(struct rtdm_fd fd, struct vm_area_struct vma);
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	57
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	58	/****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	59
2700 93ef210e9b56 Intermediate state while updating master's RTDM part to Xenomai 3 Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2524 diff changeset	60	static struct rtdm_driver ec_rtdm_driver = {
93ef210e9b56 Intermediate state while updating master's RTDM part to Xenomai 3 Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2524 diff changeset	61	.profile_info = RTDM_PROFILE_INFO(foo,
93ef210e9b56 Intermediate state while updating master's RTDM part to Xenomai 3 Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2524 diff changeset	62	RTDM_CLASS_EXPERIMENTAL,
93ef210e9b56 Intermediate state while updating master's RTDM part to Xenomai 3 Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2524 diff changeset	63	222,
93ef210e9b56 Intermediate state while updating master's RTDM part to Xenomai 3 Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2524 diff changeset	64	1),
93ef210e9b56 Intermediate state while updating master's RTDM part to Xenomai 3 Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2524 diff changeset	65	.device_flags = RTDM_NAMED_DEVICE,
93ef210e9b56 Intermediate state while updating master's RTDM part to Xenomai 3 Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2524 diff changeset	66	.device_count = 1,
2707 245d8592cfdc Continued update of master's rtdm part to xenomai 3 : ioctl context now obtained from rtdm_fd Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2706 diff changeset	67	.context_size = sizeof(ec_ioctl_context_t),
2700 93ef210e9b56 Intermediate state while updating master's RTDM part to Xenomai 3 Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2524 diff changeset	68	.ops = {
2707 245d8592cfdc Continued update of master's rtdm part to xenomai 3 : ioctl context now obtained from rtdm_fd Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2706 diff changeset	69	.open = ec_rtdm_open,
245d8592cfdc Continued update of master's rtdm part to xenomai 3 : ioctl context now obtained from rtdm_fd Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2706 diff changeset	70	.close = ec_rtdm_close,
2719 94c9657e0bee Xenomai 2 to 3 migration says "RTDM drivers implementing differentiated ioctl() support for both domains should serve all real-time only requests from ioctl_rt(), returning -ENOSYS for any unrecognized request, which will cause the adaptive switch to take place automatically to the ioctl_nrt() handler. The ioctl_nrt() should then implement all requests which may be valid from the regular Linux domain exclusively." Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2713 diff changeset	71	.ioctl_rt = ec_rtdm_rt_ioctl,
2712 5d21d80777a6 Use new RTDM's mmap, not anymore a special case compared to normal linux mmap. Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2707 diff changeset	72	.ioctl_nrt = ec_rtdm_ioctl,
5d21d80777a6 Use new RTDM's mmap, not anymore a special case compared to normal linux mmap. Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2707 diff changeset	73	.mmap = ec_rtdm_mmap
2700 93ef210e9b56 Intermediate state while updating master's RTDM part to Xenomai 3 Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2524 diff changeset	74	},
93ef210e9b56 Intermediate state while updating master's RTDM part to Xenomai 3 Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2524 diff changeset	75	};
93ef210e9b56 Intermediate state while updating master's RTDM part to Xenomai 3 Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2524 diff changeset	76
2524 6d9865c37b6f Some more doxygen documentation. Florian Pose <fp@igh-essen.com> parents: 2522 diff changeset	77	/** Initialize an RTDM device.
6d9865c37b6f Some more doxygen documentation. Florian Pose <fp@igh-essen.com> parents: 2522 diff changeset	78	*
6d9865c37b6f Some more doxygen documentation. Florian Pose <fp@igh-essen.com> parents: 2522 diff changeset	79	* \return Zero on success, otherwise a negative error code.
6d9865c37b6f Some more doxygen documentation. Florian Pose <fp@igh-essen.com> parents: 2522 diff changeset	80	*/
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	81	int ec_rtdm_dev_init(
2524 6d9865c37b6f Some more doxygen documentation. Florian Pose <fp@igh-essen.com> parents: 2522 diff changeset	82	ec_rtdm_dev_t rtdm_dev, /< EtherCAT RTDM device. /
6d9865c37b6f Some more doxygen documentation. Florian Pose <fp@igh-essen.com> parents: 2522 diff changeset	83	ec_master_t master /< EtherCAT master. /
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	84	)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	85	{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	86	int ret;
2707 245d8592cfdc Continued update of master's rtdm part to xenomai 3 : ioctl context now obtained from rtdm_fd Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2706 diff changeset	87	char* devlabel;
2700 93ef210e9b56 Intermediate state while updating master's RTDM part to Xenomai 3 Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2524 diff changeset	88
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	89	rtdm_dev->master = master;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	90
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	91	rtdm_dev->dev = kzalloc(sizeof(struct rtdm_device), GFP_KERNEL);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	92	if (!rtdm_dev->dev) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	93	EC_MASTER_ERR(master, "Failed to reserve memory for RTDM device.\n");
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	94	return -ENOMEM;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	95	}
2700 93ef210e9b56 Intermediate state while updating master's RTDM part to Xenomai 3 Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2524 diff changeset	96
2707 245d8592cfdc Continued update of master's rtdm part to xenomai 3 : ioctl context now obtained from rtdm_fd Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2706 diff changeset	97	devlabel = kzalloc(RTDM_MAX_DEVNAME_LEN+1, GFP_KERNEL);
245d8592cfdc Continued update of master's rtdm part to xenomai 3 : ioctl context now obtained from rtdm_fd Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2706 diff changeset	98	if (!devlabel) {
2700 93ef210e9b56 Intermediate state while updating master's RTDM part to Xenomai 3 Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2524 diff changeset	99	EC_MASTER_ERR(master, "Failed to reserve memory for RTDM device name.\n");
93ef210e9b56 Intermediate state while updating master's RTDM part to Xenomai 3 Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2524 diff changeset	100	return -ENOMEM;
93ef210e9b56 Intermediate state while updating master's RTDM part to Xenomai 3 Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2524 diff changeset	101	kfree(rtdm_dev->dev);
93ef210e9b56 Intermediate state while updating master's RTDM part to Xenomai 3 Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2524 diff changeset	102	}
2707 245d8592cfdc Continued update of master's rtdm part to xenomai 3 : ioctl context now obtained from rtdm_fd Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2706 diff changeset	103	snprintf(devlabel, RTDM_MAX_DEVNAME_LEN,
245d8592cfdc Continued update of master's rtdm part to xenomai 3 : ioctl context now obtained from rtdm_fd Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2706 diff changeset	104	"EtherCAT%u", master->index);
245d8592cfdc Continued update of master's rtdm part to xenomai 3 : ioctl context now obtained from rtdm_fd Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2706 diff changeset	105
245d8592cfdc Continued update of master's rtdm part to xenomai 3 : ioctl context now obtained from rtdm_fd Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2706 diff changeset	106	rtdm_dev->dev->label = devlabel;
2700 93ef210e9b56 Intermediate state while updating master's RTDM part to Xenomai 3 Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2524 diff changeset	107	rtdm_dev->dev->driver = &ec_rtdm_driver;
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	108	rtdm_dev->dev->device_data = rtdm_dev; /* pointer to parent */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	109
2700 93ef210e9b56 Intermediate state while updating master's RTDM part to Xenomai 3 Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2524 diff changeset	110
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	111	EC_MASTER_INFO(master, "Registering RTDM device %s.\n",
2707 245d8592cfdc Continued update of master's rtdm part to xenomai 3 : ioctl context now obtained from rtdm_fd Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2706 diff changeset	112	devlabel);
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	113	ret = rtdm_dev_register(rtdm_dev->dev);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	114	if (ret) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	115	EC_MASTER_ERR(master, "Initialization of RTDM interface failed"
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	116	" (return value %i).\n", ret);
2700 93ef210e9b56 Intermediate state while updating master's RTDM part to Xenomai 3 Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2524 diff changeset	117	kfree(rtdm_dev->dev->label);
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	118	kfree(rtdm_dev->dev);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	119	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	120
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	121	return ret;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	122	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	123
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	124	/****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	125
2524 6d9865c37b6f Some more doxygen documentation. Florian Pose <fp@igh-essen.com> parents: 2522 diff changeset	126	/** Clear an RTDM device.
6d9865c37b6f Some more doxygen documentation. Florian Pose <fp@igh-essen.com> parents: 2522 diff changeset	127	*/
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	128	void ec_rtdm_dev_clear(
2524 6d9865c37b6f Some more doxygen documentation. Florian Pose <fp@igh-essen.com> parents: 2522 diff changeset	129	ec_rtdm_dev_t rtdm_dev /< EtherCAT RTDM device. /
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	130	)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	131	{
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	132	EC_MASTER_INFO(rtdm_dev->master, "Unregistering RTDM device %s.\n",
2700 93ef210e9b56 Intermediate state while updating master's RTDM part to Xenomai 3 Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2524 diff changeset	133	rtdm_dev->dev->label);
2707 245d8592cfdc Continued update of master's rtdm part to xenomai 3 : ioctl context now obtained from rtdm_fd Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2706 diff changeset	134	rtdm_dev_unregister(rtdm_dev->dev);
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	135
2700 93ef210e9b56 Intermediate state while updating master's RTDM part to Xenomai 3 Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2524 diff changeset	136	kfree(rtdm_dev->dev->label);
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	137	kfree(rtdm_dev->dev);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	138	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	139
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	140	/****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	141
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	142	/** Driver open.
2524 6d9865c37b6f Some more doxygen documentation. Florian Pose <fp@igh-essen.com> parents: 2522 diff changeset	143	*
6d9865c37b6f Some more doxygen documentation. Florian Pose <fp@igh-essen.com> parents: 2522 diff changeset	144	* \return Always zero (success).
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	145	*/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	146	int ec_rtdm_open(
2706 43f8e40a183d Continued update of master's rtdm part to xenomai 3 : rtdm_user_info_t now replaced by rtdm_fd Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2700 diff changeset	147	struct rtdm_fd fd, /< User data. /
2524 6d9865c37b6f Some more doxygen documentation. Florian Pose <fp@igh-essen.com> parents: 2522 diff changeset	148	int oflags /*< Open flags. /
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	149	)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	150	{
2707 245d8592cfdc Continued update of master's rtdm part to xenomai 3 : ioctl context now obtained from rtdm_fd Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2706 diff changeset	151	ec_ioctl_context_t ctx = (ec_ioctl_context_t ) rtdm_fd_to_private(fd);
245d8592cfdc Continued update of master's rtdm part to xenomai 3 : ioctl context now obtained from rtdm_fd Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2706 diff changeset	152	#if DEBUG
245d8592cfdc Continued update of master's rtdm part to xenomai 3 : ioctl context now obtained from rtdm_fd Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2706 diff changeset	153	ec_rtdm_dev_t rtdm_dev = (ec_rtdm_dev_t ) rtdm_fd_device(fd)->device_data;
245d8592cfdc Continued update of master's rtdm part to xenomai 3 : ioctl context now obtained from rtdm_fd Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2706 diff changeset	154	#endif
245d8592cfdc Continued update of master's rtdm part to xenomai 3 : ioctl context now obtained from rtdm_fd Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2706 diff changeset	155
245d8592cfdc Continued update of master's rtdm part to xenomai 3 : ioctl context now obtained from rtdm_fd Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2706 diff changeset	156	ctx->writable = oflags & O_WRONLY \|\| oflags & O_RDWR;
245d8592cfdc Continued update of master's rtdm part to xenomai 3 : ioctl context now obtained from rtdm_fd Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2706 diff changeset	157	ctx->requested = 0;
245d8592cfdc Continued update of master's rtdm part to xenomai 3 : ioctl context now obtained from rtdm_fd Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2706 diff changeset	158	ctx->process_data = NULL;
245d8592cfdc Continued update of master's rtdm part to xenomai 3 : ioctl context now obtained from rtdm_fd Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2706 diff changeset	159	ctx->process_data_size = 0;
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	160
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	161	#if DEBUG
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	162	EC_MASTER_INFO(rtdm_dev->master, "RTDM device %s opened.\n",
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	163	context->device->device_name);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	164	#endif
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	165	return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	166	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	167
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	168	/****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	169
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	170	/** Driver close.
2524 6d9865c37b6f Some more doxygen documentation. Florian Pose <fp@igh-essen.com> parents: 2522 diff changeset	171	*
6d9865c37b6f Some more doxygen documentation. Florian Pose <fp@igh-essen.com> parents: 2522 diff changeset	172	* \return Always zero (success).
6d9865c37b6f Some more doxygen documentation. Florian Pose <fp@igh-essen.com> parents: 2522 diff changeset	173	*/
2707 245d8592cfdc Continued update of master's rtdm part to xenomai 3 : ioctl context now obtained from rtdm_fd Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2706 diff changeset	174	void ec_rtdm_close(
2706 43f8e40a183d Continued update of master's rtdm part to xenomai 3 : rtdm_user_info_t now replaced by rtdm_fd Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2700 diff changeset	175	struct rtdm_fd fd /< User data. /
2524 6d9865c37b6f Some more doxygen documentation. Florian Pose <fp@igh-essen.com> parents: 2522 diff changeset	176	)
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	177	{
2707 245d8592cfdc Continued update of master's rtdm part to xenomai 3 : ioctl context now obtained from rtdm_fd Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2706 diff changeset	178	ec_ioctl_context_t ctx = (ec_ioctl_context_t ) rtdm_fd_to_private(fd);
245d8592cfdc Continued update of master's rtdm part to xenomai 3 : ioctl context now obtained from rtdm_fd Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2706 diff changeset	179	ec_rtdm_dev_t rtdm_dev = (ec_rtdm_dev_t ) rtdm_fd_device(fd)->device_data;
245d8592cfdc Continued update of master's rtdm part to xenomai 3 : ioctl context now obtained from rtdm_fd Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2706 diff changeset	180
245d8592cfdc Continued update of master's rtdm part to xenomai 3 : ioctl context now obtained from rtdm_fd Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2706 diff changeset	181	if (ctx->requested) {
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	182	ecrt_release_master(rtdm_dev->master);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	183	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	184
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	185	#if DEBUG
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	186	EC_MASTER_INFO(rtdm_dev->master, "RTDM device %s closed.\n",
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	187	context->device->device_name);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	188	#endif
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	189	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	190
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	191	/****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	192
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	193	/** Driver ioctl.
2524 6d9865c37b6f Some more doxygen documentation. Florian Pose <fp@igh-essen.com> parents: 2522 diff changeset	194	*
6d9865c37b6f Some more doxygen documentation. Florian Pose <fp@igh-essen.com> parents: 2522 diff changeset	195	* \return ioctl() return code.
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	196	*/
2719 94c9657e0bee Xenomai 2 to 3 migration says "RTDM drivers implementing differentiated ioctl() support for both domains should serve all real-time only requests from ioctl_rt(), returning -ENOSYS for any unrecognized request, which will cause the adaptive switch to take place automatically to the ioctl_nrt() handler. The ioctl_nrt() should then implement all requests which may be valid from the regular Linux domain exclusively." Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2713 diff changeset	197	int ec_rtdm_rt_ioctl(
94c9657e0bee Xenomai 2 to 3 migration says "RTDM drivers implementing differentiated ioctl() support for both domains should serve all real-time only requests from ioctl_rt(), returning -ENOSYS for any unrecognized request, which will cause the adaptive switch to take place automatically to the ioctl_nrt() handler. The ioctl_nrt() should then implement all requests which may be valid from the regular Linux domain exclusively." Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2713 diff changeset	198	struct rtdm_fd fd, /< User data. /
94c9657e0bee Xenomai 2 to 3 migration says "RTDM drivers implementing differentiated ioctl() support for both domains should serve all real-time only requests from ioctl_rt(), returning -ENOSYS for any unrecognized request, which will cause the adaptive switch to take place automatically to the ioctl_nrt() handler. The ioctl_nrt() should then implement all requests which may be valid from the regular Linux domain exclusively." Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2713 diff changeset	199	unsigned int request, /*< Request. /
94c9657e0bee Xenomai 2 to 3 migration says "RTDM drivers implementing differentiated ioctl() support for both domains should serve all real-time only requests from ioctl_rt(), returning -ENOSYS for any unrecognized request, which will cause the adaptive switch to take place automatically to the ioctl_nrt() handler. The ioctl_nrt() should then implement all requests which may be valid from the regular Linux domain exclusively." Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2713 diff changeset	200	void __user arg /< Argument. /
94c9657e0bee Xenomai 2 to 3 migration says "RTDM drivers implementing differentiated ioctl() support for both domains should serve all real-time only requests from ioctl_rt(), returning -ENOSYS for any unrecognized request, which will cause the adaptive switch to take place automatically to the ioctl_nrt() handler. The ioctl_nrt() should then implement all requests which may be valid from the regular Linux domain exclusively." Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2713 diff changeset	201	)
94c9657e0bee Xenomai 2 to 3 migration says "RTDM drivers implementing differentiated ioctl() support for both domains should serve all real-time only requests from ioctl_rt(), returning -ENOSYS for any unrecognized request, which will cause the adaptive switch to take place automatically to the ioctl_nrt() handler. The ioctl_nrt() should then implement all requests which may be valid from the regular Linux domain exclusively." Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2713 diff changeset	202	{
94c9657e0bee Xenomai 2 to 3 migration says "RTDM drivers implementing differentiated ioctl() support for both domains should serve all real-time only requests from ioctl_rt(), returning -ENOSYS for any unrecognized request, which will cause the adaptive switch to take place automatically to the ioctl_nrt() handler. The ioctl_nrt() should then implement all requests which may be valid from the regular Linux domain exclusively." Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2713 diff changeset	203	switch (request) {
94c9657e0bee Xenomai 2 to 3 migration says "RTDM drivers implementing differentiated ioctl() support for both domains should serve all real-time only requests from ioctl_rt(), returning -ENOSYS for any unrecognized request, which will cause the adaptive switch to take place automatically to the ioctl_nrt() handler. The ioctl_nrt() should then implement all requests which may be valid from the regular Linux domain exclusively." Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2713 diff changeset	204	/*
94c9657e0bee Xenomai 2 to 3 migration says "RTDM drivers implementing differentiated ioctl() support for both domains should serve all real-time only requests from ioctl_rt(), returning -ENOSYS for any unrecognized request, which will cause the adaptive switch to take place automatically to the ioctl_nrt() handler. The ioctl_nrt() should then implement all requests which may be valid from the regular Linux domain exclusively." Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2713 diff changeset	205	Requests to be handled directly in primary domain
2720 4645c990fd79 RTDM: More IOCTL requests to be handled in primary mode Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2719 diff changeset	206
4645c990fd79 RTDM: More IOCTL requests to be handled in primary mode Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2719 diff changeset	207	Note: list was made by selecting calls in ioctl.c
4645c990fd79 RTDM: More IOCTL requests to be handled in primary mode Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2719 diff changeset	208	that seems not to make calls forbiden in primary mode
2719 94c9657e0bee Xenomai 2 to 3 migration says "RTDM drivers implementing differentiated ioctl() support for both domains should serve all real-time only requests from ioctl_rt(), returning -ENOSYS for any unrecognized request, which will cause the adaptive switch to take place automatically to the ioctl_nrt() handler. The ioctl_nrt() should then implement all requests which may be valid from the regular Linux domain exclusively." Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2713 diff changeset	209	*/
2720 4645c990fd79 RTDM: More IOCTL requests to be handled in primary mode Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2719 diff changeset	210	case EC_IOCTL_MASTER_RESCAN:
2719 94c9657e0bee Xenomai 2 to 3 migration says "RTDM drivers implementing differentiated ioctl() support for both domains should serve all real-time only requests from ioctl_rt(), returning -ENOSYS for any unrecognized request, which will cause the adaptive switch to take place automatically to the ioctl_nrt() handler. The ioctl_nrt() should then implement all requests which may be valid from the regular Linux domain exclusively." Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2713 diff changeset	211	case EC_IOCTL_SEND:
94c9657e0bee Xenomai 2 to 3 migration says "RTDM drivers implementing differentiated ioctl() support for both domains should serve all real-time only requests from ioctl_rt(), returning -ENOSYS for any unrecognized request, which will cause the adaptive switch to take place automatically to the ioctl_nrt() handler. The ioctl_nrt() should then implement all requests which may be valid from the regular Linux domain exclusively." Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2713 diff changeset	212	case EC_IOCTL_RECEIVE:
94c9657e0bee Xenomai 2 to 3 migration says "RTDM drivers implementing differentiated ioctl() support for both domains should serve all real-time only requests from ioctl_rt(), returning -ENOSYS for any unrecognized request, which will cause the adaptive switch to take place automatically to the ioctl_nrt() handler. The ioctl_nrt() should then implement all requests which may be valid from the regular Linux domain exclusively." Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2713 diff changeset	213	case EC_IOCTL_MASTER_STATE:
2720 4645c990fd79 RTDM: More IOCTL requests to be handled in primary mode Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2719 diff changeset	214	case EC_IOCTL_MASTER_LINK_STATE:
4645c990fd79 RTDM: More IOCTL requests to be handled in primary mode Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2719 diff changeset	215	case EC_IOCTL_APP_TIME:
4645c990fd79 RTDM: More IOCTL requests to be handled in primary mode Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2719 diff changeset	216	case EC_IOCTL_SYNC_REF:
4645c990fd79 RTDM: More IOCTL requests to be handled in primary mode Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2719 diff changeset	217	case EC_IOCTL_SYNC_SLAVES:
4645c990fd79 RTDM: More IOCTL requests to be handled in primary mode Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2719 diff changeset	218	case EC_IOCTL_REF_CLOCK_TIME:
4645c990fd79 RTDM: More IOCTL requests to be handled in primary mode Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2719 diff changeset	219	case EC_IOCTL_SYNC_MON_QUEUE:
4645c990fd79 RTDM: More IOCTL requests to be handled in primary mode Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2719 diff changeset	220	case EC_IOCTL_SYNC_MON_PROCESS:
4645c990fd79 RTDM: More IOCTL requests to be handled in primary mode Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2719 diff changeset	221	case EC_IOCTL_SC_EMERG_POP:
4645c990fd79 RTDM: More IOCTL requests to be handled in primary mode Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2719 diff changeset	222	case EC_IOCTL_SC_EMERG_CLEAR:
4645c990fd79 RTDM: More IOCTL requests to be handled in primary mode Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2719 diff changeset	223	case EC_IOCTL_SC_EMERG_OVERRUNS:
4645c990fd79 RTDM: More IOCTL requests to be handled in primary mode Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2719 diff changeset	224	case EC_IOCTL_SC_STATE:
2719 94c9657e0bee Xenomai 2 to 3 migration says "RTDM drivers implementing differentiated ioctl() support for both domains should serve all real-time only requests from ioctl_rt(), returning -ENOSYS for any unrecognized request, which will cause the adaptive switch to take place automatically to the ioctl_nrt() handler. The ioctl_nrt() should then implement all requests which may be valid from the regular Linux domain exclusively." Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2713 diff changeset	225	case EC_IOCTL_DOMAIN_STATE:
94c9657e0bee Xenomai 2 to 3 migration says "RTDM drivers implementing differentiated ioctl() support for both domains should serve all real-time only requests from ioctl_rt(), returning -ENOSYS for any unrecognized request, which will cause the adaptive switch to take place automatically to the ioctl_nrt() handler. The ioctl_nrt() should then implement all requests which may be valid from the regular Linux domain exclusively." Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2713 diff changeset	226	case EC_IOCTL_DOMAIN_PROCESS:
94c9657e0bee Xenomai 2 to 3 migration says "RTDM drivers implementing differentiated ioctl() support for both domains should serve all real-time only requests from ioctl_rt(), returning -ENOSYS for any unrecognized request, which will cause the adaptive switch to take place automatically to the ioctl_nrt() handler. The ioctl_nrt() should then implement all requests which may be valid from the regular Linux domain exclusively." Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2713 diff changeset	227	case EC_IOCTL_DOMAIN_QUEUE:
2720 4645c990fd79 RTDM: More IOCTL requests to be handled in primary mode Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2719 diff changeset	228	case EC_IOCTL_SDO_REQUEST_INDEX:
4645c990fd79 RTDM: More IOCTL requests to be handled in primary mode Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2719 diff changeset	229	case EC_IOCTL_SDO_REQUEST_TIMEOUT:
4645c990fd79 RTDM: More IOCTL requests to be handled in primary mode Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2719 diff changeset	230	case EC_IOCTL_SDO_REQUEST_STATE:
4645c990fd79 RTDM: More IOCTL requests to be handled in primary mode Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2719 diff changeset	231	case EC_IOCTL_SDO_REQUEST_READ:
4645c990fd79 RTDM: More IOCTL requests to be handled in primary mode Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2719 diff changeset	232	case EC_IOCTL_SDO_REQUEST_WRITE:
4645c990fd79 RTDM: More IOCTL requests to be handled in primary mode Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2719 diff changeset	233	case EC_IOCTL_SDO_REQUEST_DATA:
4645c990fd79 RTDM: More IOCTL requests to be handled in primary mode Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2719 diff changeset	234	case EC_IOCTL_REG_REQUEST_DATA:
4645c990fd79 RTDM: More IOCTL requests to be handled in primary mode Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2719 diff changeset	235	case EC_IOCTL_REG_REQUEST_STATE:
4645c990fd79 RTDM: More IOCTL requests to be handled in primary mode Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2719 diff changeset	236	case EC_IOCTL_REG_REQUEST_WRITE:
4645c990fd79 RTDM: More IOCTL requests to be handled in primary mode Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2719 diff changeset	237	case EC_IOCTL_REG_REQUEST_READ:
4645c990fd79 RTDM: More IOCTL requests to be handled in primary mode Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2719 diff changeset	238	case EC_IOCTL_VOE_SEND_HEADER:
4645c990fd79 RTDM: More IOCTL requests to be handled in primary mode Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2719 diff changeset	239	case EC_IOCTL_VOE_REC_HEADER:
4645c990fd79 RTDM: More IOCTL requests to be handled in primary mode Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2719 diff changeset	240	case EC_IOCTL_VOE_READ:
4645c990fd79 RTDM: More IOCTL requests to be handled in primary mode Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2719 diff changeset	241	case EC_IOCTL_VOE_READ_NOSYNC:
4645c990fd79 RTDM: More IOCTL requests to be handled in primary mode Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2719 diff changeset	242	case EC_IOCTL_VOE_WRITE:
4645c990fd79 RTDM: More IOCTL requests to be handled in primary mode Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2719 diff changeset	243	case EC_IOCTL_VOE_EXEC:
4645c990fd79 RTDM: More IOCTL requests to be handled in primary mode Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2719 diff changeset	244	case EC_IOCTL_VOE_DATA:
2719 94c9657e0bee Xenomai 2 to 3 migration says "RTDM drivers implementing differentiated ioctl() support for both domains should serve all real-time only requests from ioctl_rt(), returning -ENOSYS for any unrecognized request, which will cause the adaptive switch to take place automatically to the ioctl_nrt() handler. The ioctl_nrt() should then implement all requests which may be valid from the regular Linux domain exclusively." Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2713 diff changeset	245	return ec_rtdm_ioctl(fd, request, arg);
94c9657e0bee Xenomai 2 to 3 migration says "RTDM drivers implementing differentiated ioctl() support for both domains should serve all real-time only requests from ioctl_rt(), returning -ENOSYS for any unrecognized request, which will cause the adaptive switch to take place automatically to the ioctl_nrt() handler. The ioctl_nrt() should then implement all requests which may be valid from the regular Linux domain exclusively." Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2713 diff changeset	246	default:
94c9657e0bee Xenomai 2 to 3 migration says "RTDM drivers implementing differentiated ioctl() support for both domains should serve all real-time only requests from ioctl_rt(), returning -ENOSYS for any unrecognized request, which will cause the adaptive switch to take place automatically to the ioctl_nrt() handler. The ioctl_nrt() should then implement all requests which may be valid from the regular Linux domain exclusively." Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2713 diff changeset	247	break;
94c9657e0bee Xenomai 2 to 3 migration says "RTDM drivers implementing differentiated ioctl() support for both domains should serve all real-time only requests from ioctl_rt(), returning -ENOSYS for any unrecognized request, which will cause the adaptive switch to take place automatically to the ioctl_nrt() handler. The ioctl_nrt() should then implement all requests which may be valid from the regular Linux domain exclusively." Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2713 diff changeset	248	}
94c9657e0bee Xenomai 2 to 3 migration says "RTDM drivers implementing differentiated ioctl() support for both domains should serve all real-time only requests from ioctl_rt(), returning -ENOSYS for any unrecognized request, which will cause the adaptive switch to take place automatically to the ioctl_nrt() handler. The ioctl_nrt() should then implement all requests which may be valid from the regular Linux domain exclusively." Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2713 diff changeset	249	/* When a call is not supposed to happen in primary domain,
94c9657e0bee Xenomai 2 to 3 migration says "RTDM drivers implementing differentiated ioctl() support for both domains should serve all real-time only requests from ioctl_rt(), returning -ENOSYS for any unrecognized request, which will cause the adaptive switch to take place automatically to the ioctl_nrt() handler. The ioctl_nrt() should then implement all requests which may be valid from the regular Linux domain exclusively." Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2713 diff changeset	250	syscall catches -ENOSYS, then switch to secondary mode,
94c9657e0bee Xenomai 2 to 3 migration says "RTDM drivers implementing differentiated ioctl() support for both domains should serve all real-time only requests from ioctl_rt(), returning -ENOSYS for any unrecognized request, which will cause the adaptive switch to take place automatically to the ioctl_nrt() handler. The ioctl_nrt() should then implement all requests which may be valid from the regular Linux domain exclusively." Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2713 diff changeset	251	and calls .ioctl_nrt */
94c9657e0bee Xenomai 2 to 3 migration says "RTDM drivers implementing differentiated ioctl() support for both domains should serve all real-time only requests from ioctl_rt(), returning -ENOSYS for any unrecognized request, which will cause the adaptive switch to take place automatically to the ioctl_nrt() handler. The ioctl_nrt() should then implement all requests which may be valid from the regular Linux domain exclusively." Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2713 diff changeset	252	return -ENOSYS;
94c9657e0bee Xenomai 2 to 3 migration says "RTDM drivers implementing differentiated ioctl() support for both domains should serve all real-time only requests from ioctl_rt(), returning -ENOSYS for any unrecognized request, which will cause the adaptive switch to take place automatically to the ioctl_nrt() handler. The ioctl_nrt() should then implement all requests which may be valid from the regular Linux domain exclusively." Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2713 diff changeset	253	}
94c9657e0bee Xenomai 2 to 3 migration says "RTDM drivers implementing differentiated ioctl() support for both domains should serve all real-time only requests from ioctl_rt(), returning -ENOSYS for any unrecognized request, which will cause the adaptive switch to take place automatically to the ioctl_nrt() handler. The ioctl_nrt() should then implement all requests which may be valid from the regular Linux domain exclusively." Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2713 diff changeset	254
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	255	int ec_rtdm_ioctl(
2706 43f8e40a183d Continued update of master's rtdm part to xenomai 3 : rtdm_user_info_t now replaced by rtdm_fd Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2700 diff changeset	256	struct rtdm_fd fd, /< User data. /
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	257	unsigned int request, /*< Request. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	258	void __user arg /< Argument. /
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	259	)
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	260	{
2707 245d8592cfdc Continued update of master's rtdm part to xenomai 3 : ioctl context now obtained from rtdm_fd Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2706 diff changeset	261	ec_ioctl_context_t ctx = (ec_ioctl_context_t ) rtdm_fd_to_private(fd);
245d8592cfdc Continued update of master's rtdm part to xenomai 3 : ioctl context now obtained from rtdm_fd Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2706 diff changeset	262	ec_rtdm_dev_t rtdm_dev = (ec_rtdm_dev_t ) rtdm_fd_device(fd)->device_data;
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	263
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	264	#if DEBUG
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	265	EC_MASTER_INFO(rtdm_dev->master, "ioctl(request = %u, ctl = %02x)"
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	266	" on RTDM device %s.\n", request, _IOC_NR(request),
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	267	context->device->device_name);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	268	#endif
2707 245d8592cfdc Continued update of master's rtdm part to xenomai 3 : ioctl context now obtained from rtdm_fd Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2706 diff changeset	269	return ec_ioctl_rtdm(rtdm_dev->master, ctx, request, arg);
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	270	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	271
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	272	/****************************************************************************/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	273
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	274	/** Memory-map process data to user space.
2524 6d9865c37b6f Some more doxygen documentation. Florian Pose <fp@igh-essen.com> parents: 2522 diff changeset	275	*
2712 5d21d80777a6 Use new RTDM's mmap, not anymore a special case compared to normal linux mmap. Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2707 diff changeset	276	*/
5d21d80777a6 Use new RTDM's mmap, not anymore a special case compared to normal linux mmap. Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2707 diff changeset	277	int ec_rtdm_mmap(struct rtdm_fd fd, struct vm_area_struct vma)
5d21d80777a6 Use new RTDM's mmap, not anymore a special case compared to normal linux mmap. Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2707 diff changeset	278	{
2713 2e2f57fd2131 More check in rtdm mmap, also use kernel memory instead of virtual memory. Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2712 diff changeset	279	size_t len;
2e2f57fd2131 More check in rtdm mmap, also use kernel memory instead of virtual memory. Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2712 diff changeset	280	ec_ioctl_context_t ctx = (ec_ioctl_context_t ) rtdm_fd_to_private(fd);
2e2f57fd2131 More check in rtdm mmap, also use kernel memory instead of virtual memory. Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2712 diff changeset	281	len = vma->vm_end - vma->vm_start;
2e2f57fd2131 More check in rtdm mmap, also use kernel memory instead of virtual memory. Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2712 diff changeset	282	return rtdm_mmap_kmem(vma, (void *)ctx->process_data);
2e2f57fd2131 More check in rtdm mmap, also use kernel memory instead of virtual memory. Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2712 diff changeset	283	}
2e2f57fd2131 More check in rtdm mmap, also use kernel memory instead of virtual memory. Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2712 diff changeset	284
2e2f57fd2131 More check in rtdm mmap, also use kernel memory instead of virtual memory. Edouard Tisserant <edouard.tisserant@gmail.com> parents: 2712 diff changeset	285	/****************************************************************************/

author	Edouard Tisserant <edouard.tisserant@gmail.com>
	Fri, 05 Oct 2018 23:47:07 +0200
branch	stable-1.5
changeset 2722	5e5bec5ee9c1
parent 2721	d3855a6b0a9f
permissions	-rw-r--r--